Systems and methods for reference-model-based modification of a three-dimensional (3D) mesh data model

ABSTRACT

Systems and methods relate to encoded video streams including geometric-data streams transmitted to a receiver for rendering of a viewpoint-adaptive 3D persona. A method includes obtaining a three-dimensional (3D) mesh of a subject generated from depth-camera-captured information about the subject, obtaining a facial-mesh model, locating a facial portion of the obtained 3D mesh of the subject, computing a geometric transform based on the facial portion and the facial-mesh model, the geometric transform determined in response to one or more aggregated error differences between a plurality of feature points on the facial-mesh model and a plurality of corresponding feature points on the facial portion of the obtained 3D mesh, generating a transformed facial-mesh model using the geometric transform and generating a hybrid mesh of the subject at least in part by combining the transformed facial-mesh model and at least a portion of the obtained 3D mesh.

CROSS-REFERENCE TO RELATED APPLICATIONS

The present application is a continuation of U.S. patent applicationSer. No. 15/865,129, filed Jan. 8, 2018 and titled “SYSTEMS AND METHODSFOR REFERENCE-MODEL-BASED MODIFICATION OF A THREE-DIMENSIONAL (3D) MESHDATA MODEL,” which is related to and claims the benefit of the earliestavailable effective filing date(s) from the following listedapplications.

U.S. application Ser. No. 15/865,122, filed Jan. 8, 2018 titled “SYSTEMSAND METHODS FOR CAPTURING, TRANSFERRING, AND RENDERINGVIEWPOINT-ADAPTIVE THREE-DIMENSIONAL (3D) PERSONAS” naming SimionVenshtain, as inventor, U.S. application Ser. No. 15/865,120, filed Jan.8, 2018 titled “SYSTEMS AND METHODS FOR RECONSTRUCTION AND RENDERING OFVIEWPOINT-ADAPTIVE THREE-DIMENSIONAL (3D) PERSONAS” naming SimionVenshtain, Yi Zhang, and Cong Nguyen as inventors, U.S. application Ser.No. 15/865,126, filed Jan. 8, 2018 titled “SYSTEMS AND METHODSCOMPRESSION, TRANSFER, AND RECONSTRUCTION OF THREE-DIMENSIONAL (3D) DATAMESHES” naming Simion Venshtain, Yi Zhang, and Cong Nguyen as inventors,which claim benefit to provisional application Ser. No. 62/542,267,filed on Aug. 7, 2017, entitled “SYSTEMS AND METHODS FOR CAPTURING,TRANSFERRING, AND RENDERING VIEWPOINT-ADAPTIVE THREE-DIMENSIONAL (3D)PERSONAS”, all of which are hereby incorporated by reference in itsentirety.

BACKGROUND

Interpersonal communication is a fundamental part of human society.Historically significant developments in the area of interpersonalcommunication include the invention of the telegraph, the invention ofthe telephone, and the realization of interpersonal communication overdata connections, often via the Internet. The continuing proliferationof personal communication devices such as cellphones, smartphones,tablets, head-mounted displays (HMDs), and the like has only furtheredthe ways in which and the extent to which people communicate with oneanother, both in one-to-one communication sessions and in one-to-manyand many-to-many conference communication sessions (i.e., sessions thatinvolve three or more endpoints).

Further developments have occurred in which both visible-light-image(e.g., color-image) and depth-image data is captured (perhaps as part ofcapturing sequences of video frames) and combined in ways that allowextractions from two-dimensional (2D) video of “personas” wherein theremainder of the visible portion of video frames, such as the backgroundoutside of the outline of the person has been removed. Personaextraction, or “user extraction” is accordingly also known as“background removal” and by other names. In some implementations, anextracted persona is partially overlaid, typically on a pixel-wisebasis, over a different background, video stream, slide presentation,and/or the like.

The following U.S. Patents and U.S. Patent Applications Publicationsrelate in various ways to persona extraction and associatedtechnologies. Each of them is hereby incorporated herein by reference inits respective entirety.

-   -   U.S. Pat. No. 9,628,722, issued Apr. 18, 2017 and entitled        “Systems and Methods for Embedding a Foreground Video into a        Background Feed Based on a Control Input;”    -   U.S. Pat. No. 8,818,028, issued Aug. 26, 2014 and entitled        “Systems and Methods for Accurate User Foreground Video        Extraction;”    -   U.S. Pat. No. 9,053,573, issued Jun. 9, 2015 and entitled        “Systems and Methods for Generating a Virtual Camera Viewpoint        for an Image;”    -   U.S. Pat. No. 9,008,457, issued Apr. 14, 2015 and entitled        “Systems and Methods for Illumination Correction of an Image;”    -   U.S. Pat. No. 9,300,946, issued Mar. 29, 2016 and entitled        “System and Method for Generating a Depth Map and Fusing Images        from a Camera Array;”    -   U.S. Pat. No. 9,055,186, issued Jun. 9, 2015 and entitled        “Systems and Methods for Integrating User Personas with Content        During Video Conferencing;”    -   U.S. Patent Application Publication No. 2015/0172069, published        Jun. 18, 2015 and entitled “Integrating User Personas with Chat        Sessions;”    -   U.S. Pat. No. 9,386,303, issued Jul. 5, 2016 and entitled        “Transmitting Video and Sharing Content via a Network Using        Multiple Encoding Techniques;”    -   U.S. Pat. No. 9,414,016, issued Aug. 9, 2016 and entitled        “System and Methods for Persona Identification Using Combined        Probability Maps;”    -   U.S. Pat. No. 9,485,433, issued Nov. 1, 2016 and entitled        “Systems and Methods for Iterative Adjustment of Video-Capture        Settings Based on Identified Persona;”    -   U.S. Patent Application Publication No. 2015/0188970, published        Jul. 2, 2015 and entitled “Methods and Systems for Presenting        Personas According to a Common Cross-Client Configuration;”    -   U.S. Pat. No. 8,649,592, issued Feb. 11, 2014 and entitled        “System for Background Subtraction with 3D Camera;”    -   U.S. Pat. No. 8,643,701, issued Feb. 4, 2014 and entitled        “System for Executing 3D Propagation for Depth Image-Based        Rendering;”    -   U.S. Pat. No. 9,671,931, issued Jun. 6, 2017 and entitled        “Methods and Systems for Visually Deemphasizing a Displayed        Persona;”    -   U.S. Pat. No. 9,607,397, issued Mar. 28, 2017 and entitled        “Methods and Systems for Generating a User-Hair-Color Model;”    -   U.S. Pat. No. 9,563,962, issued Feb. 7, 2017 and entitled        “Methods and Systems for Assigning Pixels Distance-Cost Values        using a Flood Fill Technique;”    -   U.S. Patent Application Publication No. 2016/0343148, published        Nov. 24, 2016 and entitled “Methods and Systems for Identifying        Background in Video Data Using Geometric Primitives;”    -   U.S. Patent Application Publication No. 2016/0353080, published        Dec. 1, 2016 and entitled “Methods and Systems for Classifying        Pixels as Foreground Using Both Short-Range Depth Data and        Long-Range Depth Data;”    -   unpublished U.S. patent application Ser. No. 15/181,653, filed        Jun. 14, 2016 and entitled “Methods and Systems for Combining        Foreground Video and Background Video Using Chromatic Matching;”        and    -   unpublished U.S. patent application Ser. No. 15/333,623, filed        Oct. 25, 2016 and entitled “Methods and Systems for Real-Time        User Extraction Using Deep Learning Networks.”

SUMMARY

Presently disclosed are systems and methods for capturing, transferring,and rendering viewpoint-adaptive 3D personas.

An embodiment takes the form of a method that includes obtaining a 3Dmesh of a subject, where the obtained 3D mesh is generated fromdepth-camera-captured information about the subject. The method alsoincludes obtaining a facial-mesh model. The method also includeslocating a facial portion of the obtained 3D mesh of the subject. Themethod also includes computing a geometric transform based on the facialportion and the facial-mesh model, the geometric transform determined inresponse to one or more aggregated error differences between a pluralityof feature points on the facial-mesh model and a plurality ofcorresponding feature points on the facial portion of the obtained 3Dmesh. The method also includes generating a transformed facial-meshmodel using the geometric transform. The method also includes generatinga hybrid mesh of the subject at least in part by combining thetransformed facial-mesh model and at least a portion of the obtained 3Dmesh. The method also includes outputting the hybrid mesh of thesubject.

Another embodiment takes the form of a system that includes acommunication interface, a processor, and non-transitory data storagecontaining instructions executable by the processor for causing thesystem to carry out at least the functions listed in the precedingparagraph. Another embodiment takes the form of a non-transitorydata-storage medium—or combination of such media—containing instructionsexecutable by a processor for carrying out at least those functions.

Moreover, any of the variations and permutations described anywhere inthis disclosure can be implemented for any embodiments, including withrespect to any method embodiments and for any system embodiments.Furthermore, this flexibility and cross-applicability of embodiments ispresent in spite of the use of slightly different language (e.g.,process, method, steps, functions, set of functions, and/or the like) todescribe and/or characterize such embodiments.

In at least one embodiment, the method also includes transmitting thehybrid mesh as a set of one or more geometric-data streams and one ormore video streams as time-synchronized data streams to a receiver.

In at least one embodiment, computing the geometric transform based onthe facial portion of the facial-mesh model, the geometric transformbased on one or more aggregated error differences between a plurality offeature points on the facial-mesh model and a plurality of correspondingfeature points on the facial portion of the obtained 3D mesh includes:identifying the plurality of feature points on the facial-mesh model andthe plurality of corresponding feature points on the facial portion aslocating between 6 and 845 feature points.

In at least one embodiment, computing the geometric transform based onthe facial portion of the facial-mesh model, the geometric transformbased on one or more aggregated error differences between a plurality offeature points on the facial-mesh model and a plurality of correspondingfeature points on the facial portion of the obtained 3D mesh includes:locating the plurality of feature points on the facial-mesh model andthe plurality of corresponding feature points on the facial portion ofthe obtained 3D mesh by locating corresponding landmarks in each of thefacial-mesh model and the facial portion, the landmarks including one ormore of locations of facial features including one or more of eyes,nose, lips, and ears.

In at least one embodiment, computing the geometric transform based onthe facial portion of the facial-mesh model, the geometric transformbased on one or more aggregated error differences between a plurality offeature points on the facial-mesh model and a plurality of correspondingfeature points on the facial portion of the obtained 3D mesh includes:applying the geometric transform to map the facial-mesh model to thefacial portion of the obtained 3D mesh to replace the facial portionwith the facial-mesh model, wherein the one or more aggregated errordifferences include a minimum mean squared error calculation.

In at least one embodiment, computing the geometric transform based onthe facial portion of the facial-mesh model, the geometric transformbased on one or more aggregated error differences between a plurality offeature points on the facial-mesh model and a plurality of correspondingfeature points on the facial portion of the obtained 3D mesh includes:computing a rigid affine geometric transform.

In at least one embodiment, obtaining a three-dimensional (3D) mesh of asubject, wherein the obtained 3D mesh is generated fromdepth-camera-captured information about the subject includes: generatingthe 3D mesh of the subject from the depth-camera-captured informationabout the subject via one or more camera assemblies arranged to collectvisible-light-image and depth-image data.

In at least one embodiment, the method also includes applying anon-rigid deformation to the hybrid mesh wherein the deformation ismoved as close as possible to current-frame depth-image data.

In at least one embodiment, the method also includes periodicallyrepeating the computing the geometric transform to remove accumulatederror.

Another embodiment takes the form of a system that includes a memory,the memory including a data storage of one or more facial-mesh models,each of the one or more facial-mesh models including high resolutiongeometric facial image data. The system also includes a processorcoupled to the memory, the processor including a geometric-calculationmodule, the geometric-calculation module including: a 3D mesh renderingmodule to receive data from one or more one or more camera assembliesarranged to collect visible-light-image and depth-image data and createa 3D mesh of a subject, the 3D mesh including a facial portion; ageometric transform module coupled to the 3D mesh rendering module, thegeometric transform module computing a geometric transform based on thefacial portion and one of the facial-mesh models, the geometrictransform determined in response to one or more aggregated errordifferences between a plurality of feature points on the facial-meshmodel and a plurality of corresponding feature points on the facialportion and generate a transformed facial mesh model; and a hybridmodule coupled to the geometric transform module, the hybrid modulegenerating a hybrid mesh of the subject at least in part by combiningthe transformed facial-mesh model and at least a portion of the obtained3D mesh.

In at least one embodiment, the system further includes a transceivercoupled to the processor, the transceiver transmitting the hybrid meshas a set of one or more geometric-data streams and one or more videostreams as time-synchronized data streams to a receiver.

In at least one embodiment, the geometric transform module computes thegeometric transform based on the facial portion of the facial-meshmodel, and identifies the plurality of feature points on the facial-meshmodel and the plurality of corresponding feature points on the facialportion by locating between 6 and 845 feature points.

In at least one embodiment, the geometric transform module computes thegeometric transform based on the facial portion of the facial-meshmodel, and locates the plurality of feature points on the facial-meshmodel and the plurality of corresponding feature points on the facialportion of the obtained 3D mesh by locating corresponding landmarks ineach of the facial-mesh model and the facial portion, the landmarksincluding one or more of locations of facial features including one ormore of eyes, nose, lips, and ears.

In at least one embodiment, the geometric transform module computes thegeometric transform based the facial portion of the facial-mesh model,the geometric transform based on one or more aggregated errordifferences between a plurality of feature points on the facial-meshmodel and a plurality of corresponding feature points on the facialportion of the obtained 3D mesh includes: applying the geometrictransform to map the facial-mesh model to the facial portion of theobtained 3D mesh to replace the facial portion with the facial-meshmodel, wherein the one or more aggregated error differences include aminimum mean squared error calculation.

In at least one embodiment, the geometric transform module computes thegeometric transform based on the facial portion of the facial-meshmodel, the geometric transform based on one or more aggregated errordifferences between a plurality of feature points on the facial-meshmodel and a plurality of corresponding feature points on the facialportion of the obtained 3D mesh via a rigid affine geometric transform.

In at least one embodiment, the 3D mesh of the subject is obtained fromdepth-camera-captured information about the subject via the one or morecamera assemblies arranged to collect visible-light-image anddepth-image data.

In at least one embodiment, the geometric-calculation moduleperiodically repeats the computing the geometric transform based on thefacial portion and one of the facial-mesh models to remove accumulatederror.

Any of the variations and permutations described anywhere in thisdisclosure can be implemented for any embodiments, including for anymethod embodiments and for any system embodiments. Furthermore, thisflexibility and cross-applicability of embodiments is present in spiteof the use of slightly different language (e.g., process, method, steps,functions, set of functions, and/or the like) to describe and/orcharacterize such embodiments.

In the present disclosure, one or more elements are referred to as“modules” that carry out (i.e., perform, execute, and the like) variousfunctions that are described herein in connection with the respectivemodules. As used herein, a module includes hardware (e.g., one or moreprocessors, one or more microprocessors, one or more microcontrollers,one or more microchips, one or more application-specific integratedcircuits (ASICs), one or more field programmable gate arrays (FPGAs),one or more memory devices, and/or the like) deemed suitable by those ofskill in the relevant art for a given implementation. Each describedmodule also includes instructions executable by the aforementionedhardware for carrying out the one or more functions described herein asbeing carried out by the respective module. Those instructions couldtake the form of or include hardware (i.e., hardwired) instructions,firmware instructions, software instructions, and/or the like, and maybe stored in any suitable non-transitory computer-readable medium ormedia, such as those commonly referred to as random-access memory (RAM),read-only memory (ROM), and/or the like.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic information-flow diagram depicting data capture ofan example presenter, and transmission of the captured data, by a set ofexample video-and-depth cameras (VDCs), as well as data receipt andpresentation to a viewer of an example viewpoint-adaptive 3D persona ofthe presenter by an example head-mounted display (HMD), in accordancewith at least one embodiment.

FIG. 2 is a schematic information-flow diagram depicting an examplepresenter server system (PSS) communicatively disposed between the VDCsand the HMD of FIG. 1, in accordance with at least one embodiment.

FIG. 3 is an input/output-(I/O)-characteristic block diagram of the PSSof FIG. 2, in accordance with at least one embodiment.

FIG. 4 is a first example functional-module-specific I/O-characteristicblock diagram of the PSS of FIG. 2, in accordance with at least oneembodiment.

FIG. 5 is a functional-module-specific I/O-characteristic block diagramof a second example PSS, in accordance with at least one embodiment.

FIG. 6 is a hardware-architecture diagram of an examplecomputing-and-communication device (CCD), in accordance with at leastone embodiment.

FIG. 7 is a diagram of an example communication system, in accordancewith at least one embodiment.

FIG. 8 depicts an example HMD, in accordance with at least oneembodiment.

FIG. 9A is a first front view of an example camera-assembly rig havingmounted thereon four example camera assemblies, in accordance with atleast one embodiment.

FIG. 9B is a second front view of the camera-assembly rig and cameraassemblies of FIG. 9A, shown for an example reference set ofcartesian-coordinate axes, in accordance with at least one embodiment.

FIG. 9C is a partial top view of the camera-assembly rig and cameraassemblies of FIG. 9A, shown with respect to the reference set ofcartesian-coordinate axes of FIG. 9B, in accordance with at least oneembodiment.

FIG. 9D is a partial front view of the camera-assembly rig and cameraassemblies of FIG. 9A, shown with respect to the reference set ofcartesian-coordinate axes of FIG. 9B, where each such camera assembly isalso shown with respect to its own example camera-assembly-specific setof cartesian-coordinate axes, in accordance with at least oneembodiment.

FIG. 10A is a first front view of an example camera-assembly rig havingmounted thereon three example camera assemblies, in accordance with atleast one embodiment.

FIG. 10B is a second front view of the camera-assembly rig and cameraassemblies of FIG. 10A, shown with respect to an example reference setof cartesian-coordinate axes, in accordance with at least oneembodiment.

FIG. 10C is a partial top view of the camera-assembly rig and cameraassemblies of FIG. 10A, shown with respect to the reference set ofcartesian-coordinate axes of FIG. 10B, in accordance with at least oneembodiment.

FIG. 10D is a partial front view of the camera-assembly rig and cameraassemblies of FIG. 10A, shown with respect to the reference set ofcartesian-coordinate axes of FIG. 10B, where each such camera assemblyis also shown with respect to its own example camera-assembly-specificset of cartesian-coordinate axes, in accordance with at least oneembodiment.

FIG. 11A is a first front view of an example one of the cameraassemblies of FIG. 10A, in accordance with at least one embodiment.

FIG. 11B is a second front view of the camera assembly of FIG. 11A,shown with respect to an example portion of the reference set ofcartesian-coordinate axes of FIG. 10B, in accordance with at least oneembodiment.

FIG. 11C is a modified virtual front view of the camera assembly of FIG.11A, also shown with respect to the portion from FIG. 11B of thereference set of cartesian-coordinate axes of FIG. 10B, in accordancewith at least one embodiment.

FIG. 12 is a diagram of a first example presenter scenario in which thepresenter of FIG. 1 is positioned in an example room in front of thecamera-assembly rig and camera assemblies of FIG. 10A, in accordancewith at least one embodiment.

FIG. 13 is a diagram of a second example presenter scenario in which thepresenter of FIG. 1 is positioned on an example stage in front of thecamera-assembly rig and camera assemblies of FIG. 10A, in accordancewith at least one embodiment.

FIG. 14 is a diagram of a first example viewer scenario according towhich a viewer is using the HMD of FIG. 1 to view the 3D persona of FIG.1 of the presenter of FIG. 1 as part of an example virtual-reality (VR)experience, in accordance with at least one embodiment.

FIG. 15 is a diagram of a second example viewer scenario according towhich a viewer is using the HMD of FIG. 1 to view the 3D persona of FIG.1 of the presenter of FIG. 1 as part of an example augmented-reality(AR) experience, in accordance with at least one embodiment.

FIG. 16A is a flowchart of a first example method, in accordance with atleast one embodiment.

FIG. 16B is a flowchart of a second example method, in accordance withat least one embodiment.

FIG. 16C is a second example functional-module-specificI/O-characteristic block diagram of the PSS of FIG. 2, in accordancewith at least one embodiment.

FIG. 16D is the hardware-architecture diagram of FIG. 6 furtherincluding a facial-mesh model storage, in accordance with at least oneembodiment.

FIG. 17 is a perspective diagram depicting a view of a first exampleprojection from a focal point of an example one of the camera assembliesof FIG. 10A through the four corners of a two-dimensional (2D) pixelarray of the example camera assembly on to the reference set ofcartesian-coordinate axes of FIG. 10B, in accordance with at least oneembodiment.

FIG. 18 is a perspective diagram depicting a view of a second exampleprojection from the focal point of FIG. 17 through the centroid of the2D pixel array of FIG. 17 on to the reference set ofcartesian-coordinate axes of FIG. 10B, in accordance with at least oneembodiment.

FIG. 19 is a perspective diagram depicting a view of a third exampleprojection from the focal point of FIG. 17 through an example pixel inthe 2D pixel array of FIG. 17 on to the reference set ofcartesian-coordinate axes of FIG. 10B, in accordance with at least oneembodiment.

FIG. 20 is a flowchart of a third example method, in accordance with atleast one embodiment.

FIG. 21 is a first view of an example submesh of a subject, shown withrespect to the reference set of cartesian-coordinate axes of FIG. 10B,in accordance with at least one embodiment.

FIG. 22 is a second view of the submesh of FIG. 21, as well as amagnified portion thereof, in accordance with at least one embodiment.

FIG. 23 is a flowchart of a fourth example method, in accordance with atleast one embodiment.

FIG. 24 is a view of an example viewer-side arrangement including threeexample submesh virtual-projection viewpoints that correspondrespectively with the three camera assemblies of FIG. 10A, in accordancewith at least one embodiment.

FIG. 25 is a view of the viewer-side arrangement of FIG. 24 in asituation in which a viewer has selected a center viewpoint, inaccordance with at least one embodiment.

FIG. 26 is a view of the viewer-side arrangement of FIG. 24 in asituation in which a viewer has selected a rightmost viewpoint, inaccordance with at least one embodiment.

FIG. 27 is a view of the viewer-side arrangement of FIG. 24 in asituation in which a viewer has selected a leftmost viewpoint, inaccordance with at least one embodiment.

FIG. 28 is a view of the viewer-side arrangement of FIG. 24 in asituation in which a viewer has selected an example intermediateviewpoint between the center viewpoint of FIG. 25 and the leftmostviewpoint of FIG. 27, in accordance with at least one embodiment.

FIG. 29 is a view of the viewer-side arrangement of FIG. 24 in asituation in which a viewer has selected an example intermediateviewpoint between the center viewpoint of FIG. 25 and the rightmostviewpoint of FIG. 26, in accordance with at least one embodiment.

The entities, connections, arrangements, and the like that are depictedin and described in connection with the various figures are presented byway of example and not limitation. As such, any and all statements orother indications as to what a particular figure “depicts,” what aparticular element or entity in a particular figure “is” or “has,” andany and all similar statements—that may in isolation and out of contextbe read as absolute and therefore limiting—can only properly be read asbeing constructively preceded by a clause such as “In at least oneembodiment . . . .” And it is for reasons akin to brevity and clarity ofpresentation that this implied leading clause is not repeated ad nauseumin the below detailed description of the drawings.

DETAILED DESCRIPTION OF THE DRAWINGS I. Introduction

In addition to persona extraction from a 2D combination ofvisible-light-image and depth-image data, it is also possible to usemultiple visible-light cameras and multiple depth cameras that can becombined in sets that can include at least one of each, for example, in“camera assemblies,” a term that is further defined below-positioned atmultiple viewpoints around a subject (e.g., a person) to capture enoughvisible-light data and depth data to render a 3D representation of thesubject. That 3D representation, referred to herein as a 3D persona,could be rendered to a viewer at a remote location (e.g., at a locationthat is remote with respect to the location of the subject). As usedherein, the subject thus “teleports” to the remote location, virtually,not corporeally.

With virtual teleportation, there are tradeoffs such as resolution vs.effective data-transfer rate (the transfer on average of a given quantumof data per a given unit of time, a ratio that depends on factors suchas available bandwidth and efficiency of use). Higher resolutionproduces more visually impressive results but typically requires ahigher effective data-transfer rate, lower resolution requires a lowereffective data-transfer rate and decreases the end-user experience.

According to a first scenario, two people at two different locations arecommunicating. For simplicity of explanation and not by way oflimitation, this first example scenario involves substantially one-waydata communication from a first person (referred to in connection withthis example as “the presenter”) to a second person (referred to inconnection with this example as “the viewer”).

In this example, the presenter is giving an astronomy lecture from thefirst location (e.g., a lecture hall), at which suitable data-captureequipment (perhaps a camera-assembly rig having multiple cameraassemblies mounted thereon, examples of both of which are describedherein) has been installed or otherwise set up, while the viewer isviewing this lecture in realtime, or substantially live, from the secondlocation (e.g., their home) using an HMD. It is not necessary that theviewer be using an HMD, nor is it necessary that the viewer be viewingthe lecture in realtime, as these are examples. The viewer could beviewing the lecture via one or more screens of any type and/or any otherdisplay technology deemed suitable by those of skill in the art for agiven context or in a given implementation. The viewer could be viewingthe lecture any amount of time after it actually happened—e.g., theviewer could be streaming the recorded lecture from a suitable server.And numerous other arrangements are possible as well.

As explained herein, the viewer can change their viewing angle (e.g., bywalking around, turning their head, changing the direction of theirgaze, operating a joystick, operating a control cross, operating akeyboard, operating a mouse, and/or the like) and be presented withcolor-accurate and depth-accurate renderings of a 3D persona of thepresenter (“a 3D presenter persona”) from the viewer's selected viewingangle (“a viewpoint-adaptive 3D persona, or, “a viewpoint-adaptive 3Dpresenter persona”). Herein, the adjective “viewpoint-adaptive” is notused to qualify every occurrence of “3D persona,” “3D presenterpersona,” and the like; but to enhance readability.

As examples, the 3D presenter persona is shown to appear to the viewerto be superimposed on a background (e.g., the lunar surface) as part ofa virtual-reality (VR) experience, or superimposed at the viewer'slocation as part of an augmented-reality (AR) experience. If thedata-capture equipment at the first location is sufficientlycomprehensive, the viewer may be able to virtually “walk” all around the3D presenter persona—the viewer may be provided with a 360° 3D virtualexperience.

Other data-capture-equipment arrangements are contemplated, includingthree, four or multi-camera assemblies—including bothvisible-light-camera equipment and depth-camera equipment arranged on arigid physical structure referred to herein as a camera-assembly rigpositioned in front of the presenter able to capture the presenter fromeach of a set of vantage points such as left, right, and center.Top-center and bottom-center can be included in a four-camera-assemblyrig. Other rigs are also possible, including six or more cameras locatedat vantage points as needed in a given location. For example, in someembodiments, 45° angles could be desirable and the number of camerascould therefore multiply as needed. Furthermore, cameras focusing on afeature of a presenter could be added to a rig and the geometry for suchcameras can be calculated to provide necessary integration with theother cameras in the rig.

In some embodiments, such as those in which the camera-assemblyequipment is mounted on a camera-assembly rig (e.g., embodiments inwhich no visible-light-camera equipment or depth-camera equipment otherthan that which is mounted on the camera-assembly rig at thedata-capture location), 3D presenter persona can be presented to theviewer in a less-than-360° 3D virtual experience.

Two-way (and more than two-way) virtual-teleportation sessions arecontemplated, though one-way virtual-teleportation sessions are alsodescribed herein, to simplify the explanation of the present systems andmethods.

Returning now to the first-described example scenario, reference is madeto FIG. 1, which is a schematic information-flow diagram depicting datacapture of an example presenter 102, and transmission of the captureddata, by a set of example VDCs 106A (“Alpha”), 106B (“Beta”), and 106Γ(“Gamma”), as well as data receipt and presentation to a viewer (notdepicted) of an example viewpoint-adaptable 3D persona 116 of thepresenter 102 by an example HMD 112, in accordance with at least oneembodiment. The set of VDCs 106A, 106B, and 106Γ are referred to hereinusing an abbreviation such as “the VDCs 106ABΓ,” “the VDCs 106A-Γ,” “theVDCs 106,” and/or the like. One of the VDCs 106 may be referred tospecifically by its particular reference numeral. The Greek lettersAlpha (“A”), Beta (“B”), and Gamma (“Γ”) refer to various elements inFIG. 1 to convey that these could be any three arbitrary vantage pointsof the presenter 102, and are not meant to bear any relation to conceptssuch as left, center, right, and/or the like.

As can be seen in FIG. 1, the presenter 102 is located in a presenterlocation 104 (e.g., the above-mentioned lecture hall). At the presenterlocation 104, the respective VDCs 106 are capturing both video and depthdata of the presenter 102, as represented by the dotted arrows 107A,107B, and 107Γ. Each of the arrows 107 is depicted as double-ended toindicate a two-way flow of information. As described more fully below,each of the VDCs 106 may include an illuminator that project a patternof infrared light in the direction of the presenter 102 and then gatherthe reflection of that pattern using multiple depth cameras andstereoscopically analyze the collected data as part of a depth-camerasystem of a given VDC 106. And each VDC 106 is using its respectivevideo-camera capability to capture visible-light video of the presenter102.

Each of the VDCs 106 is capturing such video and depth data of thepresenter 102 from their own respective vantage point at the presenterlocation 104. The VDCs 106 transmit encoded video streams 108A, 108B,and 108Γ to HMD 112, located at a viewer location 113 (e.g., theabove-mentioned home of the viewer). As also shown in FIG. 1, the VDCs106 are transmitting depth-data streams 110A, 110B, and 110Γ to HMD 112.At the viewer location 113, HMD 112 uses the video streams 108ABΓ andthe depth-data streams 110ABΓ to render the viewpoint-adaptive 3Dpersona 116 of the presenter 102 on a display 114 of HMD 112. As to thedepiction of the display 114, the reference letters W, X, Y, and Z areshown in FIG. 1 to convey that the view of the display 114 shown in FIG.1 is depicted as the viewer would see it while wearing HMD 112.

FIG. 1 displays a high-level conceptual view 100 of an embodiment inwhich both video and depth data of the presenter 102 is captured by eachof multiple VDCs 106. This video and depth data is transmitted usingmultiple distinct data streams from the respective VDCs 106 to HMD 112,and the video and depth data is combined by HMD 112 in rendering theviewpoint-adaptive 3D persona 116 of the presenter 102 on the display114. 3D persona 116 is shown standing on a lunar surface with a backdropof stars in a simplified depiction of a VR experience.

Data capture, transmission, and rendering functions can be distributedin various ways as suitable by those of skill in the art along thecommunication path between and including the data-capture equipment(e.g., the VDCs 106) and the persona-rendering equipment (e.g., HMD112). In different embodiments, one or more servers (and/or othersuitable processing devices, systems, and/or the like) are located atthe data-capture location, the data-rendering location, and/or inbetween, and the herein-described functions can be distributed invarious ways among those servers, the data-capture equipment, thedata-rendering equipment, and/or other equipment.

II. Example Architecture

A. Example Presenter Server System (PSS)

An example of a server being communicatively disposed on thecommunication path between the data-capture equipment and thedata-rendering equipment is depicted in FIG. 2, which is a schematicinformation-flow diagram depicting a view 200 of an embodiment in whichan example presenter server system (PSS) 202 is communicatively disposedbetween a set of VDCs 206 and HMD 112. Many of the elements depicted inFIG. 2 are also depicted in FIG. 1.

One difference from FIG. 1 to FIG. 2 is that the VDCs 106 are replacedby VDCs 206. Because the information flow in this embodiment differsfrom the information flow depicted and described in connection with FIG.1, different reference numerals identify devices carrying out differentsets of functions. Unlike the ABΓ notation used for the VDCs 106 of FIG.1, the VDCs 206 of FIG. 2 use an LCR notation to specifically denote“left,” “center,” and right,” though there is no serious attempt (otherthan sequential arrangement) in FIG. 2 to depict the VDCs 206L (“left”),206C (“center”), and 206R (“right”) capturing a left-side view, acentered view, and a right-side view, respectively, of the presenter102. Aside from the ABΓ notation and the LCR notation, the data-capturefunction is still carried out in substantially the same way in theembodiment of FIG. 2 as it is in the embodiment of FIG. 1. Also commonto FIG. 1 and FIG. 2 are the presenter 102, the presenter location 104,HMD 112, the viewer location 113, the display 114, and the 3D presenterpersona 116.

One difference between FIG. 1 and FIG. 2 is the presence in FIG. 2 ofPSS 202. In various embodiments, PSS 202 could reside at the presenterlocation 104, the viewer location 113, or anywhere in between. RegardingFIG. 2, an embodiment is described in which PSS 202 resides at thepresenter location 104. Accordingly, each of the video streams 208L,208C, and 208R can include a “raw” video stream, in that it is notcompressed or truncated; in other words, the video streams 208LCR caninclude full, standalone color frames (images) (encoded in a well-knowncolor space such as RGB, RGB-A, or the like), in which none of theframes reference any one of the other frames.

In some embodiments, each of the VDCs 206 transmits a respectivedepth-data stream 210 to PSS 202. In embodiments in which this depthdata is gathered stereoscopically by each VDC 206 using multipleinfrared (IR) cameras to gather reflection of a single projected IRpattern, the VDCs 206 themselves could resolve these stereoscopicdifferences in hardware and transmit depth-pixel images to PSS 202 inthe respective depth-data streams 210; it could instead be the case thatthe VDCs 206 transmit raw IR images to PSS 202, which thenstereoscopically resolves pairs of IR images to arrive at depth-pixelimages that correspond with the visible-light video images. Otherexample implementations are possible.

In various embodiments, the capture and processing of video and depthdata are time-synchronized according to a shared frame rate across thevarious data-capture equipment (e.g., the VDCs 106, the VDCs 206, thehereinafter-described camera assemblies, and/or the like),data-processing equipment (e.g., PSS 202), and data-rendering equipment(e.g., HMD 112).

Data transfer between various entities or any data-processing steps isnot necessarily carried out by the entities instantaneously. In someembodiments, there is time-synchronized coordination whereby, forexample, each instance of data-capture equipment captures one frame(e.g., one video image and a contemporaneous depth image) of thepresenter 102 every fixed amount of time, which is referred to herein as“the shared-frame-rate period” (or perhaps just “the period”), and it isthe inverse of the shared frame rate, as is known in the art. In oneembodiment, 3D-mesh generation, data transmission, and renderingfunctions also step along according to this shared frame rate.

Depending on factors such as the length of the shared-frame-rate period,the available computing speed and power, and/or the time needed to carryout various functions, capture, processing, and transmission (e.g., atleast the sending) for a given frame x could all occur within a singleperiod. In other embodiments, more of an assembly-line approach is used,whereby one entity (e.g., PSS 202) may be processing a given frame xduring the same period that the data-capture equipment (e.g., thecollective VDCs 206) is capturing the next frame x+1. And certainlynumerous other timing examples could be given.

In the embodiment that is described herein in connection with FIG. 2,PSS 202 transmits an encoded video stream 218 corresponding to each rawvideo stream 208 that PSS 202 receives from a respective VDC 206. Asdescribed herein, PSS 202 may encode a given raw video stream 208 as acorresponding encoded video stream 218 in a number of different ways.Some known video-encoding algorithms (a.k.a. “codecs” or “video codecs”)include (i) those developed by the “Moving Picture Experts Group”(MPEG), which operates under the mutual coordination of theInternational Standards Organization (ISO) and the InternationalElectro-Technical Commission (IEC), (ii) H.261 (a.k.a. Px64) asspecified by the International Telecommunication Union (ITU), and (iii)H.263 as also specified by the ITU, though certainly others could beused as well.

In some embodiments, each video camera (or video-camera function of eachVDC, camera assembly, or the like) captures its own video stream, andeach of those video streams is encoded according to a (known orhereinafter-developed) standard video codec for transmission in acorresponding distinct encoded video stream for delivery to therendering device. The video-capture and video-encoding modules and/orequipment of various embodiments of the present methods and systems needknow nothing of one another, including shared geometry, 3D-meshgeneration, viewpoint-adaptive rendering, and so on; they capture,encode (e.g., compress), and transmit video.

Each respective depth-data stream 210 could include two streams of rawIR images captured by two different IR cameras in each VDC 206, forstereoscopic resolution thereof by PSS 202 include depth images of depthpixels that are generated at each VDC 206 using, e.g., VDC-hardwareprocessing to create stereoscopic resolution of pairs oftime-synchronized IR images. In one embodiment shown in FIG. 2,VDC-hardware-based stereoscopic resolution of pairs of IR images intodepth-pixel images are then transmitted to PSS 202 for furtherprocessing. In some embodiments, the VDCs capture RGB images intime-synchrony with the two IR images and create a depth-pixel image.

Depth images could be captured by two IR cameras in a VDC. In otherembodiments, depth images can be created by using a single IR camera.For example, a single IR camera transfers IR images to create depthimages after combination with other IR images captured by differentVDCs. Thus, multiple IR data streams can combine to create a depthstream outside of the VDCs or DCS, for example, if only one IR camera ispresent in each VDC. Thus, inexpensive VDCs can be utilized to createstereoscopic 3D video without requiring a two IR camera VDC.

Along with the encoded video streams 218, PSS 202 is depicted in FIG. 2as transmitting one or more geometric-data streams 220LCR to HMD 112.There could be three separate streams 220L, 220C, and 220R, or it couldinstead be a single data stream 220LCR; and certainly other combinationscould be implemented and listed here as well. Regardless of stream countand arrangement, this set of one or more geometric-data streams isreferred to herein as “the geometric-data stream 220LCR.” Matters thatare addressed in the description of ensuing figures include (i) exampleways in which PSS 202 could generate the geometric-data stream 220LCRfrom the depth-data streams 210 and (ii) example ways in which HMD 112could use the geometric-data stream 220LCR in rendering theviewpoint-adaptive 3D presenter persona 116.

A more scale-independent and explicitly mathematically expressed versionof the I/O characteristics of PSS 202 is shown in FIG. 3, which is aninput/output-(I/O)-characteristic block diagram of PSS 202 of FIG. 2, inaccordance with at least one embodiment. From FIG. 2 to FIG. 3 PSS 202is shown, note that other elements that are depicted in FIG. 3 arenumbered in the 300 series to correspond with the numbering in the 200series elements in FIG. 2.

The VDCs 206 of FIG. 2 are replaced in FIG. 3 by the separating thevideo components from the depth components. FIG. 2 shows a set of Mvideo cameras (VCs) 306V and a set of N depth-capture cameras (DCs)306D. The raw video streams 208L, 208C and 208R of FIG. 2 are shown inFIG. 3 by M raw video streams 308, each of which is expressed in FIG. 3using the notation VS_(M)(f_(x)), where VS stands for “video stream,” Midentifies the video camera associated with the corresponding videostream 308, and f_(x) notation “frame x” indicates that the videostreams 308 are time-synchronized according to a shared frame rate.(each video camera 306V captures the same numbered frame at the sametime). The depth capture streams 210L, 210C and 210R of FIG. 2 are shownin FIG. 3 by N depth-data streams 310, each of which is expressed inFIG. 3 using the notation DDS_(N)(f_(x)), where DDS stands for“depth-data stream,” N identifies the depth-data camera associated withthe corresponding depth-data stream 310, and f_(x) notation “frame x”indicates that the depth-data streams 310 are time-synchronizedaccording to a shared frame rate.

The encoded video streams 218 of FIG. 2 are replaced in FIG. 3 by the Mencoded video stream(s) 318, each of which is expressed in FIG. 3 usingthe notation EVS_(M)(f_(x)), where (i) EVS stands for “encoded videostream,” (ii) M identifies the video camera, and (iii) f_(y) indicates“frame y,” that the raw video streams 308 are time-synchronizedaccording to the shared frame rate. Per the above timing discussion, yis equal to x−a, where a is an integer greater than or equal to zero; inother words, “frame y” and “frame x” could be the same frame, or “framey” could be the frame captured one or more frames prior to “frame x.”

As depicted in FIG. 3, the DCs 306D transmit one or more depth-datastreams (DDS(s)) 310 to PSS 202. The one or more DDS(s) 310 (hereinafter“DDS 310”) in FIG. 3 replace the depth-data streams 210 of FIG. 2. Inone embodiment, DDS 310 is in frame synchrony—time synchrony accordingto a shared frame rate—with one or more of the raw video streams 308,and is expressed in FIG. 3 using the notation DDS(f_(x)). Thegeometric-data stream 220LCR of FIG. 2 is replaced in FIG. 3 by the(similarly one or more) geometric-data stream(s) 320 (referred tohereinafter as “the geometric-data stream 320” whether it includes onestream of geometric data or more than one stream of geometric data). Thegeometric-data stream 320 is expressed in FIG. 3 as GEO(f_(y)) toindicate frame synchrony with each of the encoded video streams 318.

The data-capture equipment in FIG. 1 and FIG. 2 take the form ofmultiple VDCs 106 and multiple VDCs 206, respectively. The terms “VDC”and “camera assembly” are used interchangeably in this description torefer to instantiations of hardware that each include at least avisible-light (e.g., RGB) video camera and a depth-camera system (e.g.,an IR illuminator and one or two IR cameras, the IR images from whichare stereoscopically resolved to produce depth images/depth-pixelimages/arrays of depth pixels. Likewise there are multiple depth-captureequipment options. FIG. 3 illustrates a separation of video-captureequipment (VCs 306V) and depth-capture equipment (DCs 306D), however,depth-capture equipment DCs 306D can be located near each VC 306V orapart from a VC 306V.

These multiple different depicted data-capture-equipment arrangementsconvey at least the point that combined video-and-depth-captureequipment assemblies (e.g., VDCs, camera assemblies, and the like) arean option but not the only option. Video could be captured from somenumber of separate video-data-capture vantage points and depthinformation could be captured from some (perhaps different) number of(perhaps different) depth-data-capture vantage points. There could beone or more combined video-and-depth data-capture vantage points, one ormore video-data-capture-only vantage points, and/or one or moredepth-data-capture-only vantage points.

Thus, the DCs 306D could take forms such as a depth camera substantiallyco-located with every respective video camera 306V, a set of depthcameras, each of which may or may not be co-located with a respectivevideo camera 306V, and/or any other arrangement of depth-data-captureequipment deemed suitable by those of skill in the art for a givenimplementation. Moreover, stereoscopic resolution is but one of a numberof different depth-determination technologies that could be used incombination, as known to those of skill in the art.

The DDS 310 could take forms such as (i) a stream—that isframe-synchronized (in frame synchrony) with each raw video stream308—from each of multiple depth-camera systems (or camera assemblies) ofrespective pairs of raw, time-synchronized IR images in need ofstereoscopic resolution, (ii) a stream—that is frame-synchronized witheach raw video stream 308—from each of multiple depth-camera systems (orcamera assemblies) of depth-pixel images (that may be the result ofstereoscopic resolution of corresponding pairs of IR images), (iii) astream—that is frame-synchronized with each raw video stream 308—of 3Dmeshes of the subject (such as presenter 102) in embodiments in whichthe DCS 306D includes both depth-data-capture equipment and generates 3Dmeshes of a subject from depth data gathered from multiple vantagepoints of the subject. In various different embodiments, PSS 202 obtainsframe-synchronized 3D meshes of the subject by receiving such 3D meshesfrom another entity such as the DCs 306D or by generating such 3D meshesfrom raw or processed depth data captured of the subject from multipledifferent vantage points. And other approaches could be used as well.

In one embodiment, frame (f_(x)) from one or more VCs combine to createa “super frame” 308 that is a combination of video. Thus, according toone embodiment, a super frame represents a video sequence that only hasto be encoded in PSS 202 one time. Likewise, output streams from PSS 202can be combined in a single stream 318.

PSS 202 may be architected in terms of different functional modules, oneexample of which is depicted in FIG. 4, which is afunctional-module-specific I/O-characteristic block diagram of PSS 202,in accordance with at least one embodiment. Many aspects of FIG. 4 arealso depicted in FIG. 3. What is different in FIG. 4 is that PSS 202 isspecifically shown as including a geometric-calculation module 402 and avideo-encoding module 404.

In various different embodiments, the geometric-calculation module 402receives the DDS 310 from the DCs 306D, obtains (or generates) 3D meshesof presenter 102 from received DDS 310, generates geometric-data stream320, and transmits one or more geometric-data streams from PSS 202 toHMD 112. Depending on the distribution of functionality,geometric-calculation module 402 may stereoscopically resolve associatedpairs of IR images to generate depth frames.

In various different embodiments, the video-encoding module 404 carriesout functions such as receiving the raw video streams 308 from videocameras 306V, encoding each of those raw video streams 308 into anencoded video stream EVS using a suitable video codec, and transmittingthe generated encoded video streams EVS from PSS 202 to HMD 112separately or in a single stream 318.

Another possible functional-module architecture of a PSS is shown inFIG. 5, which is a functional-module-specific I/O-characteristic blockdiagram of a second example PSS 502, in accordance with at least oneembodiment. FIG. 5 is similar in many ways to FIG. 4, other than thatPSS 502 is shown as including not only the geometric-calculation module402 and the video-encoding module 404, but also a data-capture module502 that includes the M video cameras 306V and N depth cameras DCs 306D.Thus, a PSS according to the present disclosure could include thevideo-data-capture equipment, and could include the depth data-captureequipment.

B. Example Computing-and-Communication Device (CCD)

FIG. 4 and FIG. 5 depict a functional-module architecture of PSS 202 anda possible functional-module architecture of PSS 502. FIG. 6 illustratesa hardware-architecture diagram of an example CCD 600, in accordancewith an embodiment. A number of the devices described herein are CCDs(computing-and-communication devices). CCDs encompass mobile devicessuch as smartphones and tablets, personal computers (PCs) such aslaptops and desktops, networked servers, devices designed for morespecific purposes such as visible-light (e.g., RGB) cameras and depthcameras, devices such as HMDs usable in VR and AR contexts, and/or anyother CCD(s) deemed suitable by those of skill in the art.

CCDs herein include but are not limited to the following: any or all ofthe VDCs 106, HMD 112, PSS 202, any or all of the VDCs 206, the DCS306D, any or all of the video cameras 306V, any or all of the CCDs704-710, any or all of the camera assemblies 924, any or all of thecamera assemblies 1024, and any or all of the projection elements 2404.

CCD 600 includes a communication interface 602, a processor 604, a datastorage 606 containing program instructions 608 and operational data610, a user interface 612, a peripherals interface 614, and peripheraldevices 616. Communication interface 602 may be operable forcommunication according to one or more wireless-communication protocols,some examples of which include Long-Term Evolution (LTE), IEEE 802.11(Wi-Fi), Bluetooth, and the like. Communication interface 602 may alsoor instead be operable for communication according to one or morewired-communication protocols, some examples of which include Ethernetand USB. Communication interface 602 may include any necessary hardware(e.g., chipsets, antennas, Ethernet interfaces, etc.), any necessaryfirmware, and any necessary software for conducting one or more forms ofcommunication with one or more other entities as described herein.

Processor 604 may include one or more processors of any type deemedsuitable by those of skill in the relevant art, some examples includinga general-purpose microprocessor and a dedicated digital signalprocessor (DSP).

The data storage 606 may take the form of any non-transitorycomputer-readable medium or combination of such media, some examplesincluding flash memory, RAM, and ROM to name but a few, as any one ormore types of non-transitory data-storage technology deemed suitable bythose of skill in the relevant art could be used. As depicted in FIG. 6,the data storage 606 contains program instructions 608 executable by theprocessor 604 for carrying out various functions described herein, andfurther is depicted as containing operational data 610, which mayinclude any one or more data values stored by and/or accessed by the CCD600 in carrying out one or more of the functions described herein.

The user interface 612 may include one or more input devices and/or oneor more output devices. User interface 612 may include one or moretouchscreens, buttons, switches, microphones, keyboards, mice,touchpads, and/or the like. For output devices, the user interface 612may include one or more displays, speakers, light emitting diodes(LEDs), speakers, and/or the like. One or more components of the userinterface 612 could provide both user-input and user-outputfunctionality, a touchscreen being one example.

Peripherals interface 614 could include any wired and/or any wirelessinterface for communicating with one or more peripheral devices such asinput devices, output devices, I/O devices, storage devices, still-imagecameras, video cameras, webcams, speakers, depth cameras, IRilluminator, HMDs, and/or any other type of peripheral device deemedsuitable by those of skill in the art for a given implementation. Someexample peripheral interfaces include USB, FireWire, Bluetooth, HDMI,DisplayPort, mini DisplayPort, and the like. Other example peripheraldevices and peripheral interfaces could be listed.

Peripherals interface 614 of CCD 600 could have one or more peripheraldevices 616 permanently or at least semi-permanently installed as partof the hardware architecture of the CCD 600. The peripheral devices 616could include peripheral devices mentioned in the preceding paragraphand/or any type deemed suitable by those of skill in the art.

C. Example Communication System

FIG. 7 depicts an example communication system 700. In FIG. 7, four CCDs704, 706, 708, and 710 are communicatively interconnected with oneanother via network 702. The CCD 704 is connected to network 702 via acommunication link 714, CCD 706 via a communication link 716, CCD 708via a communication link 718, and CCD 720 via a communication link 720.Any one or more of the communication links 714-720 could include one ormore wired-communication links, one or more wireless-communicationlinks, one or more switches, routers, bridges, other CCDs, and/or thelike.

D. Example Head-Mounted Display (HMD)

FIG. 8 depicts HMD 112 in accordance with at least one embodiment. HMD112 includes a strap 802, an overhead piece 804, a face-mounting mask806, and the aforementioned display 114. Other HMDs could includedifferent components, as HMD 112 in FIG. 8 is provided by way of exampleand not limitation. As a general matter, the strap 802 and the overheadpiece 804 cooperate with the face-mounting mask 806 to secure HMD 112 tothe viewer's head such that the viewer can readily observe the display114. Some examples of commercially available HMDs that could be used asHMD 112 in connection with embodiments of the present systems andmethods include the Microsoft HoloLens®, the HTC Vive®, the OculusRift®, the OSVR HDK 1.4®, the PlayStation VR®, the Epson Moverio BT-300Smart Glasses®, the Meta 2®, and the Osterhout Design Group (ODG) R-7Smartglasses System®. Numerous other examples could be listed here aswell.

E. Example Camera-Assembly Rigs

1. Rig Having Mounted Camera Assemblies

In at least one embodiment, the presenter 102 is positioned in front ofa camera-assembly rig, one example of which is shown in FIG. 9A, whichis a front view 900 of an example camera-assembly rig 902 having mountedthereon four example camera assemblies 924L (“left”), 924R (“right”),924TC (“top center”), and 924BC (“bottom center”). Although four mountedcamera assemblies, it will be appreciated by one of skill in the artthat different arrangements are possible and four is merely an example.The camera assemblies can also be independently configured with manycamera assemblies,

For the left-right convention that is employed herein, camera assembly924L is considered to be “left” rather than “right” because it ispositioned to capture the left side of the presenter 102 if they werestanding square to the camera-assembly rig 902 such that it appeared tothe presenter 102 substantially the way it appears in FIG. 9A. Herein,the “L” elements also appear to the left of the “R” elements whenviewing the drawings as they are.

The camera-assembly rig 902 includes a base 904; vertical supports 906,908T (“top”), 908B (“bottom”), and 910; horizontal supports 912L, 912C(“center”), 912R, 914L, and 914R; diagonal supports 916T, 916B, 918T,918B, 920, and 922. The structure and arrangement that is shown in FIG.9A is presented for illustration and not by way of limitation. Othercamera-assembly-rig structures and numbers and positions of cameraassemblies are possible in various different embodiments. For example,in one embodiment, as will be appreciated by one of skill in the art,each or certain ones of each camera-assembly could be doubled, tripledor the like. Another structure and (in that case athree-camera-assembly) arrangement is depicted in and described below inconnection with FIGS. 10A-D.

Consistent with the groups-of-elements numbering convention that isexplained above in connection with the VDCs 106 of FIG. 1, “the cameraassemblies 924” refers to the set of four camera assemblies {924L, 924R,924TC, 924BC} that is depicted in FIG. 9A, and “a camera assembly 924,”“one of the camera assemblies 924,” and/or the like refers to any onemember of that set. As one would expect, a specific reference such as“the camera assembly 924TC” refers to that particularly referencedcamera assembly, though such a reference may nevertheless be made in acontext in which a particular one of the camera assemblies 924 isoffered as an example to describe aspects common among the cameraassemblies 924 and not necessarily to distinguish one from the others.Similarly, a reference such as “the vertical support 908” refers to boththe vertical supports 908T and 908B. And so on.

In at least one embodiment, the base 904 is made of a material (e.g.,steel) or combination of materials that is dense and heavy enough tokeep the camera-assembly rig 902 stable and stationary during use.Furthermore, in at least one embodiment, each of the supports 906-922 ismade of a material (e.g., steel) or combination of materials that isstrong and rigid, such that the relative positions of the base 904 andthe respective camera assemblies 924 do not change during operation,such that a characteristic geometry among the camera assemblies 924 thatare mounted on the camera-assembly rig 902 can reliably be used in partof the data processing described herein.

In the depicted arrangement, by way of example, the triangle formed bythe horizontal support 912C, the diagonal support 920, and the diagonalsupport 922 (“the triangle 912-920-922”) is an equilateral triangle, andeach of the six triangles that are formed among different combinationsof the base 904; the vertical supports 906, 908, and 910; the horizontalsupports 912 and 914, and the diagonal supports 916 and 918 is a “3-4-5”right triangle as is known in the art and in mathematical disciplinessuch as geometry and trigonometry. These six triangles are the triangle904-906-916, the triangle 904-910-918, the triangle 908-912-916, thetriangle 908-912-918, the triangle 908-914-916, and the triangle908-914-918.

Further with respect to geometry, FIG. 9B is a front view 930 of thecamera-assembly rig 902 and camera assemblies 924 of FIG. 9A, anddepicts those elements with respect to an example reference set ofcartesian-coordinate axes 940, which includes an x-axis 941, a y-axis942, and a z-axis 943, in accordance with at least one embodiment. Theselection of cartesian-coordinate axes and the placement in FIG. 9B ofthe cartesian-coordinate axes 940 are by way of example and notlimitation. Other coordinate systems could be used to organize 3D space,and certainly other placements of axes could be chosen other than thearbitrary choice that is reflected in FIG. 9B. This arbitrary choice,however, is maintained and remains consistent throughout a number of theensuing figures.

Four different points 980, 982, 984, and 986 in 3D space are labeled inFIG. 9B. Each one has been chosen to correspond with what is referred toherein as the “front centroid” (e.g., the centroid of the front face) ofthe respective visible-light camera of a given one of the cameraassemblies 924. In this description of FIG. 9B and of a number of theensuing figures, a red-green-blue (RGB) camera is used as an exampletype of visible-light camera; this is by way of example and notlimitation.

As is also discussed below in connection with at least FIGS. 11A and11B, in at least one embodiment, each camera assembly 924 includes anRGB camera that is horizontally and vertically centered on the frontface of the given camera assembly 924. The front centroid of each suchRGB camera is the point at the horizontal and vertical center of thefront face of that RGB camera, and therefore at the horizontal andvertical center of the respective front face of the respective cameraassembly 924 as well. By convention, for the cartesian-coordinate axes940, each of the front centroids 980, 982, 984, and 986 has been chosento have a z-coordinate (not explicitly labeled in FIG. 9B) equal tozero, not by way of limitation.

The 3D-space point 980 is the front centroid of camera assembly 924L andis located for the cartesian-coordinate axes 940 at coordinates{x₉₈₀,y₉₈₀,0}. The notation used in this description for that point inthat space is xyz₉₄₀::{x₉₈₀,y₉₈₀,0}. The 3D-space point 982 is the frontcentroid of the camera assembly 924TC and has coordinatesxyz₉₄₀::{x₉₈₂,y₉₈₂,0}. The 3D-space point 984 is the front centroid ofthe camera assembly 924R and has coordinates xyz₉₄₀::{x₉₈₄,y₉₈₀,0}. The3D-space point 986 is the front centroid of the camera assembly 924BCand has coordinates xyz₉₄₀::{x₉₈₂,y₉₈₆,0}.

Other 3D-space points could be labeled as well, as these four are merelyexamples that illustrate among other things that, at least for someherein-described data operations, a shared (e.g., global, common,reference, etc.) 3D-space-coordinate system is used across multipledifferent camera assemblies that each have a respective differentvantage point in that shared 3D-space-coordinate system—e.g., in thatshared geometry. In this description, for at least FIG. 9B, FIG. 9C, andFIG. 9D, that shared 3D-space-coordinate system is thecartesian-coordinates axes 940 (xyz₉₄₀). 3D-space-coordinate systemxyz₁₀₄₀ (and associated cartesian-coordinate axes 1040) applies to FIG.10B and 3D-space-coordinate system xyz₁₀₄₀ and the three-camera-assemblygeometry of example camera-assembly rig 1002 applies to FIG. 10A.

As shown in FIG. 9B, the 3D-space points 980, 982, 984, and 986 arereferred to herein at times as front centroids 980, 982, 984, and 986,and front centroids of the RGB cameras of camera assemblies 924 and attimes as being the respective front centroids of the respective cameraassemblies 924 themselves since, as described above, they are both.

One or more of the camera assemblies 924 could be fixed to thecamera-assembly rig 902 in a fixed or removable manner. One or more ofthe camera assemblies 924 could be fixed to the camera-assembly rig 902at any angle deemed suitable by those of skill in art. Camera assembly924TC could be oriented straight ahead and inclined down at a smallangle, while the camera assembly 924BC could be oriented straight aheadand inclined up at a small angle; furthermore, the camera assemblies924L and 924R could each be level and rotated inward toward center,perhaps each by the same angle. This sort of arrangement is depicted byway of example in FIG. 9C, which is a top view 960 of thecamera-assembly rig 902 and of three of the four camera assemblies 924.

Among the elements of the camera-assembly rig 902 that are depicted inFIG. 9A and FIG. 9B, those that are also depicted in FIG. 9C are thebase 904 (shown in FIG. 9C in dashed-and-dotted outline) and thehorizontal supports 912L, 912C, and 912R. The three camera assembliesthat are depicted in FIG. 9C are the camera assemblies 924L, 924TC, and924R, each of which is shown with a dotted pattern representing itsrespective top surface. Also carried over from FIG. 9B to FIG. 9C arethe cartesian-coordinates axes 940 (shown rotated consistent with FIG.9B being a front view and FIG. 9C being a top view of thecamera-assembly rig 902), the front centroid 980 (having x-coordinatex₉₈₀) of the camera assembly 924L, the front centroid 982 (havingx-coordinate x₉₈₂) of the camera assembly 924 TC, and the front centroid984 (having x-coordinate x₉₈₄) of the camera assembly 924R.

FIG. 9C (as compared with FIGS. 9A and 9B) are three horizontal supports962L, 962TC, and 962R. Each horizontal support 962 lies in an xz-plane(has a constant y-value) of the cartesian-coordinate axes 940 in anorientation that is normal to the aforementioned horizontal supports 912and 914. The horizontal support 962L is connected between the cameraassembly 924L and the horizontal support 912L. The horizontal support962TC is connected between the camera assembly 924TC and a junctionbetween the diagonal supports 920 and 922. The horizontal support 962Ris connected between the camera assembly 924R and the horizontal support912R.

FIG. 9C illustrates camera assemblies 924L and 924R turned inwards by anangle of 45°. A 45° angle 972 is formed between the x-axis 941 and a ray966 normal to the front face of the camera assembly 924L emanates fromfront centroid 980. A 45° angle 974 is formed between the x-axis 941 anda ray 968 normal to the front face of the camera assembly 924R emanatesfrom the front centroid 984. Also depicted is a ray 964 normal to thefront face of the camera assembly 924TC emanates from the front centroid982. And though it is not required in this example, the rays 964, 966,and 968 all intersect at a focal point 970, which has coordinatesxyz₉₄₀::{x₉₈₂,y₉₈₀,z₉₇₀}.

The camera-assembly rig 902 and the camera assemblies 924 affixedthereon are in connection with a single reference set ofcartesian-coordinate axes 940. Camera-assembly-specific sets ofcartesian-coordinate axes for camera assemblies 924 are also possible.Also, transforms between (i) locations in a given 3D space are possiblewith respect to the reference cartesian-coordinate axes 940 and (ii)those same locations in 3D space with respect to a set ofcartesian-coordinate axes oriented with respect to a given one of thecamera assemblies 924.

Some example camera-assembly-specific sets of cartesian-coordinate axesare shown in FIG. 9D, which is similar to FIG. 9B. In particular, FIG.9D is a partial front view 990 of the camera-assembly rig 902 and cameraassemblies 924, in accordance with at least one embodiment. In FIG. 9D,none of the individual components of the camera-assembly rig 902 (e.g.,the base 904) are expressly labeled. Many of the lines of thecamera-assembly rig 902 have been reduced to dashed lines and partiallyredacted in length so as not to obscure the presentation of the moresalient aspects of FIG. 9D. Also, the lines that form the cameraassemblies 924 themselves have been converted to being dashed lines.

In FIG. 9D, as is the case in FIG. 9B, the camera-assembly rig 902 isdepicted for the reference cartesian-coordinate axes 940. In FIG. 9D,however, each of the camera assemblies 924 is also depicted with respectto its own example camera-assembly-specific set of cartesian-coordinateaxes 994, each of which is indicated as having a respective a-axis, arespective b-axis, and a respective c-axis. Thus, the camera assembly924L is shown with respect to cartesian-coordinate axes 994L, the cameraassembly 924R with respect to cartesian-coordinate axes 994R, the cameraassembly 924TC with respect to cartesian-coordinate axes 994TC, and thecamera assembly 924BC with respect to cartesian-coordinate axes 994BC.

In the geometry herein, the a-axis, b-axis, and c-axis of eachcamera-assembly-specific cartesian-coordinate axes 994 are notrespectively parallel to the x-axis 941, the y-axis 942, and the z-axis943 of the reference cartesian-coordinate axes 940. Rather, the xy-planewhere z=0 of each set of axes 994 is flush with the respective frontface of the corresponding respective camera assembly 924. The particularangles at which the various camera assemblies 924 are affixed to thecamera-assembly rig 902 with respect to the referencecartesian-coordinate axes 940 are therefore relevant to building properrespective transforms between each of the coordinate axes 994 and thereference axes 940. It is acknowledged that “axes” is at times used as asingular noun in this written description is basically as shorthand for“set of axes” (e.g., “The axes 994 is oriented . . . .”).

Each of the axes 994 inherently has an origin—e.g., a point having thecoordinates {a=0,b=0,c=0} in its respective coordinate system. With eachof the camera assemblies 924 being rigidly affixed to thecamera-assembly rig 902, the location of each of those origin points hascoordinates in the reference axes 940. A camera-assembly-specific set ofcartesian-coordinate axes 994 herein is “anchored” at its correspondingcoordinates in the reference axes 940.

The camera-assembly-specific set of cartesian-coordinate axes 994L isanchored at the front centroid 980 of the camera assembly 924L and islocated at xyz₉₄₀::{x₉₈₀,y₉₈₀,0}; the camera-assembly-specific set ofcartesian-coordinate axes 994R is anchored at the front centroid 984 ofthe camera assembly 924R and is located at xyz₉₄₀::{x₉₈₄,y₉₈₀,0}; thecamera-assembly-specific set of cartesian-coordinate axes 994TC isanchored at the front centroid 982 of the camera assembly 924TC and islocated at xyz₉₄₀::{x₉₈₂,y₉₈₀,0}; and the camera-assembly-specific setof cartesian-coordinate axes 994BC is anchored at the front centroid 986of the camera assembly 924BC and is therefore located atxyz₉₄₀::{x₉₈₂,y₉₈₆,0}.

2. Rig Having Multi-Camera Mounted Camera Assemblies

Multi-camera assemblies are included in this disclosure, and one ofskill in the art will appreciate with the benefit of this disclosurethat seven, eight and more cameras are a function of geometrical spaceand bandwidth of transmission. For purposes of simplicity ofexplanation, a three-camera-assembly arrangement and associated geometryis depicted in and described below in connection with FIGS. 10A-10D. InFIGS. 10A-10D, many of the elements that are similar to correspondingelements that are numbered in the 900 series in FIGS. 9A-9D are numberedin the 1000 series in FIGS. 10A-10D. FIGS. 9A-9D and 10A-10D are similarand the differences that are described below.

FIG. 10A is a first front view 1000 of an example camera-assembly rig1002 having mounted thereon three example camera assemblies 1024L,1024C, and 1024R, in accordance with at least one embodiment. Incomparing FIG. 10A to FIG. 9A, the camera assemblies 924TC and 924BChave been removed and replaced by a single camera assembly 1024C that issituated at the same height (y-value) as the camera assemblies 1024L and1024R. Consistent with that change, there are no supports in FIG. 10Athat correspond with the diagonal supports 920 and 922 of FIG. 9A;instead of horizontal supports 912L, 912C, and 912R, FIG. 10A hasinstead just the pair of horizontal supports 1012L and 1012R.

FIG. 10B is a second front view 1030 of the camera-assembly rig 1002 andthe camera assemblies 1024 of FIG. 10A, shown with respect to theabove-mentioned example reference set of cartesian-coordinate axes 1040,in accordance with at least one embodiment. FIG. 10B is similar in manyways to both FIG. 9B and to FIG. 10A. The axes 1040 includes an x-axis1041, a y-axis 1042, and a z-axis 1043. It can be seen in FIG. 10B thatthe camera assembly 1024L has a front centroid 1080 having coordinatesxyz₁₀₄₀::{x₁₀₈₀,y₁₀₈₀,0}. The camera assembly 1024C has a front centroid1082 having coordinates xyz₁₀₄₀::{x₁₀₈₂,y₁₀₈₀,0}. Finally, the cameraassembly 1024R has a front centroid 1084 having coordinatesxyz₁₀₄₀::{x₁₀₈₄,y₁₀₈₀,0}.

FIG. 10C is a partial top view 1060 of the camera-assembly rig 1002 andcamera assemblies 1024 of FIGS. 10A and 10B, shown with respect to thereference set of cartesian-coordinate axes 1040 of FIG. 10B. FIG. 10C isnearly identical to FIG. 9C, and in fact the 3D-space points 970 and1070 would be the same point in space (assuming complete alignment ofthe respective x-axes, y-axes, and z-axes of the sets of coordinatesaxes 940 and 1040, as well as identical dimensions of the respectivecamera-assembly rigs and camera assemblies).

One subtle difference is that the ray 964 is slightly longer than theray 1064 due to the elevated position of the camera assembly 924TC ascompared with the camera assembly 1024C. In other words, the vantagepoint of the camera assembly 924TC is looking downward at the focalpoint 970 whereas the vantage point of the camera assembly 1024C islooking straight ahead at the focal point 1070. This difference is notexplicitly represented in FIGS. 9C and 10C themselves, but rather isinferable from the sets of drawings taken together.

FIG. 10D is a partial front view 1090 of the camera-assembly rig 1002and camera assemblies 1024, shown with respect to the reference set ofcartesian-coordinate axes 1040, in which each camera assembly 1024 isalso shown with respect to its own example camera-assembly-specific setof cartesian-coordinate axes, in accordance with at least oneembodiment. FIG. 10D is nearly identical in substance to FIG. 9D(excepting of course that they depict different embodiments), andtherefore is not covered in detail here. Note that thecamera-assembly-specific axes 1094L is anchored at the front centroid1080 of the camera assembly 1024L, the camera-assembly-specific axes1094C is anchored at the front centroid 1082 of the camera assembly1024C, and the camera-assembly-specific axes 1094R is anchored at thefront centroid 1084 of the camera assembly 1024R. Unlike in FIG. 9D,there is in FIG. 10D a set of camera-assembly specific axes (inparticular the axes 1094C) that are respectively parallel to thereference set of axes (which in the case of FIG. 10D is the axes 1040).

F. Example Camera Assembly

An example camera assembly is shown in further detail in FIGS. 11A-11C.And although FIG. 11A is a front view 1100 of the above-mentioned cameraassembly 1024L in accordance with at least one embodiment, it should beunderstood that any one or more of the VDCs 106, any one or more of thecamera assemblies 924, and/or any one or more of the camera assemblies1024 could have a structure similar to the camera-assembly structure(e.g., composition, arrangement, and/or the like) that is depicted inand described in connection with FIGS. 11A-11C.

As can be seen in FIG. 11A, the camera assembly 1024L includes an RGBcamera 1102, an IR camera 1104L, an IR camera 1104R, and an IRilluminator 1106. And certainly other suitable components andarrangements of components could be used. In at least one embodiment,one or more of the camera assemblies 924 and/or 1024 is a RealSense 410®from Intel Corporation of Santa Clara, Calif. In at least oneembodiment, one or more of the camera assemblies 924 and/or 1024 is aRealSense 430® from Intel Corporation. And certainly other examplescould be listed as well.

The RGB camera 1102 of a given camera assembly 1024 could be any RGB (orother visible-light) video camera deemed suitable by those of skill inthe art for a given implementation. The RGB camera 1102 could be astandalone device, a modular component installed in another device(e.g., in a camera assembly 1024), or another possibility deemedsuitable by those of skill in the art for a given implementation. In atleast one embodiment, the RGB camera 1102 includes (i) a color sensorknown as the Chameleon3 3.2 megapixel (MP) Color USB3 Vision (a.k.a. theSony IMx265) manufactured by FLIR Integrated Imaging Solutions Inc.(formerly Point Grey Research), which has its main office in Richmond,British Columbia, Canada and (ii) a high-field-of-view, low-distortionlens. As described herein, some embodiments involve the cameraassemblies 1024 using their respective RGB cameras 1102 to gather videoof the subject (e.g., the presenter 102) and to transmit a raw videostream 208 of the subject to a server such as PSS 202.

Each IR camera 1104 of a given camera assembly 1024 could be any IRcamera deemed suitable by those of skill in the art for a givenimplementation. Each IR camera 1104 could be a standalone device, amodular component installed in another device (e.g., in a cameraassembly 1024), or another possibility deemed suitable by those of skillin the art for a given implementation. In at least one embodiment, eachIR camera 1104 includes (i) a high-field-of-view lens and (ii) an IRsensor known as the OV9715 from OmniVision Technologies, Inc., which hasits corporate headquarters in Santa Clara, Calif. As described herein,some embodiments involve the various camera assemblies 1024 using theirrespective pairs of IR cameras 1104 to gather depth data of the subject(e.g., the presenter 102) and to transmit a depth-data stream 110 of thesubject to a server such as PSS 202.

The IR illuminator 1106 of a given camera assembly 1024 could be any IRilluminator, emitter, transmitter, and/or the like deemed suitable bythose of skill in the art for a given implementation. The IR illuminator1106 could be a set of one or more components that alone or togethercarry out the herein-described functions of the IR illuminator 1106. Forexample, IR illuminator 1106 could include LIMA high-contrast IR dotprojector from Heptagon, Large Divergence 945 nanometer (nm)vertical-cavity surface-emitting laser (VCSEL) Array Module fromPrinceton Optronics as will be appreciated by one of skill in the art.

In at least one embodiment, to aid in gathering (e.g., obtaining,generating, and/or the like) depth data, depth images, 3D meshes, andthe like, the IR illuminator 1106 of a given camera assembly 1024 isused to project a pattern of IR light on the subject. The IR cameras1104L and 1104R may then be used to gather reflective images of thisprojected pattern, where such reflective images can then bestereoscopically compared and analyzed to ascertain depth informationregarding the subject. As mentioned, stereoscopic analysis ofprojected-IR-pattern reflections is but one way that such depthinformation could be ascertained, and those of skill in the art mayselect another depth-information-gathering technology without departingfrom the scope and spirit of the present disclosure.

FIG. 11B is a front view 1120 of the camera assembly 1024L shown withrespect to an example portion of the cartesian-coordinate axes 1040, inaccordance with at least one embodiment. The x-axis 1041 and the y-axis1042 are shown in FIG. 11B, though the z-axis 1043 is not (although thedifferent points that are labeled in FIG. 11B would in fact havedifferent z-values than one another, due to the orientation of thecamera assembly 1024L as depicted in FIG. 10C). Also depicted is the3D-space point 1080, which, as can be seen in FIG. 11B and as wasmentioned above, is the front centroid of both the camera assembly 1024Las a whole and of the RGB camera 1102 of the camera assembly 1024L. Aswas described above, the front centroid 1080 has coordinatesxyz₁₀₄₀::{x₁₀₈₀,y₁₀₈₀,0}. The IR camera 1104L has a front centroid 1124Lhaving an x-coordinate of x_(1124L), a y-coordinate of y₁₀₈₀, and anon-depicted z-coordinate. The IR camera 1104R has a front centroid1124R having an x-coordinate of x_(1124R), a y-coordinate of y₁₀₈₀, anda non-depicted z-coordinate. The IR illuminator 1106 has a frontcentroid 1126 having an x-coordinate of x₁₁₂₆, a y-coordinate of y₁₀₈₀,and a non-depicted z-coordinate.

FIG. 11C is a modified virtual front view 1140 of the camera assembly1024L, also shown with respect to the portion from FIG. 11B of thecartesian-coordinate axes 1040. FIG. 11C is substantially identical toFIG. 11B, other than that the RGB camera 1102 has been replaced by avirtual depth camera 1144L at the exact same position having a virtualfront centroid 1080 that is co-located with the front centroid 1080 ofthe RGB camera 1102 of the camera assembly 1024L at the coordinatesxyz₁₀₄₀::{x₁₀₈₀,y₁₀₈₀,0}.

The relevance of the virtual depth camera 1144L being at the samelocation of the actual RGB camera 1102 of the camera assembly 1024L isexplained more fully below. And each of the other camera assemblies 924and 1024 could similarly be considered to have a virtual depth camera1144 co-located with their respective RGB camera 1102. In particularwith respect to the camera assemblies 1024C and 1024R, in the describedembodiment, the camera assembly 1024C is considered to have a virtualdepth camera 1144C co-located (e.g., having a common front centroid1082) with the respective RGB camera 1102 of the camera assembly 1024C,and the camera assembly 1024R is considered to have a virtual depthcamera 1144R co-located (e.g., having a common front centroid 1084) withthe respective RGB camera 1102 of the camera assembly 1024R. Andcertainly other example arrangements could be used as well.

III. Example Scenarios

A. Example Presenter Scenarios

One possible setup in which the presenter 102 may be situated isdepicted in FIG. 12, which is a diagram of a first example presenterscenario 1200 in which the presenter 102 is positioned in an exampleroom 1202 in front of the camera-assembly rig 1002 and the cameraassemblies 1024 of FIG. 10A, in accordance with at least one embodiment.The presenter scenario 1200 takes place in the room 1202, which has afloor 1204, a left wall 1206, and a back wall 1208. Clearly the room1202 could—and likely would—have other walls, a ceiling, etc., as onlyan illustrative part of the room 1202 is depicted in FIG. 12.

The view of FIG. 12 is from behind the presenter 102, and therefore aback 102B of the presenter 102 is shown as actually positioned where thepresenter 102 would be standing in this example. It can be seen that theback 102B of the presenter 102 is shown with a pattern of diagonalparallel lines that go from lower-left to upper-right. Also depicted inFIG. 12 is a front 102F of the presenter 102, using a crisscross patternformed by diagonal lines. Clearly the presenter would not appearfloating in two places to an observer standing behind the presenter 102.The depiction of the front 102F of the presenter 102 is provided merelyto illustrate to the reader of this disclosure that a remote viewerwould generally see the front 102F of the presenter 102. It is furthernoted that the crisscross pattern that is depicted on the front 102F ofthe presenter 102 in FIG. 12 is consistent with the manner in which thepresenter persona 116 is depicted in FIGS. 1, 2, 14, 15, and 24-29, asexamples.

Also depicted as being in the room 1202 in FIG. 12 is PSS 202, which inthis case is embodied in the form of a desktop computer that has awireless (e.g., Wi-Fi) data connection 1210 with the camera rig 1002 anda wired (e.g., Ethernet) connection 1212 to a data port 1214, which mayin turn provide high-speed Internet access, as an example, as directhigh-speed data connections to one or more viewer locations arecontemplated as well. The wireless connection 1210 could be between PSS202 and a single module (not depicted) on the camera rig 1002, wherethat single module in turn interfaces with each of the camera assemblies1024. In another embodiment, there is an independent wireless connection1210 (1210L, 1210R, and 1210C) with each of the respective cameraassemblies 1024. And certainly other possible arrangements could bedescribed here as well.

As described earlier, in one example, the presenter 102 is delivering anastronomy lecture in a lecture hall. Such an example is depicted in FIG.13, which is a diagram of a second example presenter scenario 1300 inwhich the presenter 102 is positioned on an example stage 1302 in frontof the camera-assembly rig 1002 and the camera assemblies 1024 of FIG.10A, in accordance with at least one embodiment. Some aspects of FIG. 13that are identical or at least quite similar to parallel aspects in FIG.12, and thus that are not further described here, include the presenter102, the front 102F of the presenter 102, the back 102B of the presenter102, the camera rig 1002, the camera assemblies 1024 (not specificallyenumerated in FIG. 13), PSS 202, a wireless connection 1310, a wiredconnection 1312, and a data port 1314.

As can be seen in FIG. 13, the stage 1302 has a surface 1302 and a sidewall 1306. The camera rig 1002 is positioned at the front of the stage1302 on the surface 1304. The presenter 102 is standing on the surface1304, facing the camera rig 1002, and addressing a live, in-personaudience 1308. Certainly other arrangements could be depicted, as thescenarios 1200 and 1300 are provided by way of example. Also, as is thecase with FIG. 12, the front 102F of the presenter 102 is included inFIG. 13 to show what the audience 1308 would be seeing, and not at allto indicate that somehow both the front 102F and the back 102B of thepresenter 102 would be visible from the overall perspective of FIG. 13.

B. Example Viewer Scenarios

1. Virtual Reality (VR)

As mentioned above, there are several ways in which a viewer couldexperience the presentation by the presenter 102. Some examples includeVR experiences and AR experiences. One example VR scenario is depictedin FIG. 14, which is a diagram of a first example viewer scenario 1400according to which a viewer is using HMD 112 to view the 3D presenterpersona 116, in accordance with at least one embodiment. The scenario1400 is quite simplified, but in general is included to demonstrate thepoint that the viewer could view the presentation in a VR experience.

As can be seen in FIG. 14, in the scenario 1400, the viewer sees adepiction 1402 on the display 114 of HMD 112. In the depiction 1402, the3D presenter persona 116 is depicted as standing on a (virtual) lunarsurface 1404 with a (virtual) starfield (e.g., the lunar sky) 1406 as abackdrop. A (virtual) horizon 1408 separates the lunar surface 1404 fromthe starfield 1406. It will be quite apparent to those of skill in theart and to people in general that the number of possible VR examplesthat could be used in various different implementations is as limitlessas the human imagination.

2. Augmented Reality (AR)

Another type of viewer scenario, in this case an AR viewer scenario, isdepicted in FIG. 15, which is a diagram of a second example viewerscenario 1500, according to which a viewer is using HMD 112 to view the3D persona 116 of the presenter 102 as part of an example AR experience,in accordance with at least one embodiment. The scenario 1500 is quitesimplified as well, and is included to demonstrate that the viewer couldview the presentation in an AR experience.

In the particular example that is shown in FIG. 15, there is a depiction1502 in which the only virtual element is the 3D presenter persona 116.Certainly one or more additional virtual elements could be depicted invarious different embodiments. In this example, then, the 3D presenterpersona 116 is depicted as standing on the (real) ground 1504 in frontof some (real) trees 1510 and some (real) clouds 1508 against thebackdrop of the (real) sky 1506. In this simple example, the viewer haschosen to view the lecture by the presenter 102 from a location out innature, but of course this is presented merely by way of example and notlimitation.

IV. Example Operation

A. Example Sender-Side Operation

1. Introduction

FIG. 16A is a flowchart of a first example method 1600, in accordancewith at least one embodiment. In various different embodiments, themethod 1600 could be carried out by any one of a number of differententities—or perhaps by a combination of multiple such entities. Someexamples of disclosed entities and combinations of disclosed entitiesthat could carry out the method 1600 include the VDCs 106, PSS 202, andPSS 502. By way of example and not limitation, the method 1600 isdescribed below as being carried out by PSS 202.

Furthermore, the below description of the method 1600 is given withrespect to other elements that are also in the drawings, though thisagain is for clarity of presentation and by way of example, and in noway implies limitation. Each step 1602-1610 is described in a way thatrefers by way of example to various elements in the drawings of thepresent disclosure. In particular, and with some exceptions, the method1600 is generally described with respect to the presenter scenario 1300,the viewer scenario 1400, the camera-assembly rig 1002, the cameraassemblies 1024L, 1024R, and 1024C, and the basic information flow ofFIG. 2 (albeit with the camera assemblies 1024LCR taking the respectiveplaces of the VDCs 206LCR).

2. Receiving Raw Video Streams from Camera Assemblies

At step 1602, PSS 202 receives three (in general M, where M is aninteger) video streams 208 including the raw video streams 208L, 208C,and 208R, collectively the raw video streams 208LCR, respectivelycaptured of the presenter 102 by the respective RGB video cameras 1102of the camera assemblies 1024. RGB video cameras 1102 of the respectivecamera assemblies 1024 capture video, and, specifically, PSS 202receives raw video streams 208 from the respective camera assemblies1024. A similar convention is employed for depth-data streams 210.

As described herein, each video stream 208 includes video frames thatare time-synchronized with the video frames of each of the other suchvideo streams 208 according to a shared frame rate. That is, inaccordance with embodiments of the present systems and methods, not onlydo multiple entities (e.g., the camera assemblies 1024) and thecorresponding data (e.g., the raw video streams 208) that those entitiesprocess (e.g., receive, generate, modify, transmit, and/or the like)operate according to (or at least reflect) a shared frame rate, they doso in a time-synchronized manner.

Of course certain corrections and synchronization steps may be taken invarious embodiments using hardware, firmware, and/or software to achieveor at least very closely approach time-synchronized operation, but thepoint is this: not only does a given frame x (e.g., the frame havingsequence number x, frame number x, timestamp x, and/or other data xuseful in synchronization of video frames with one another) in one datastream 208 have the same duration as frame x in each of the othercorresponding data streams 208, but each frame x would start andtherefore end at the same time, at least within an acceptable margin oferror that may differ among various implementations.

In at least one embodiment, the shared frame rate is 120 frames persecond (fps), which would make the shared-frame-rate period 1/120 of asecond (8⅓ ms). In at least one embodiment, the shared frame rate is 240fps, which would make the shared-frame-rate period 1/240 of a second (4⅙ms). In at least one embodiment, the shared frame rate is 300 fps, whichwould make the shared-frame-rate period 1/300 of a second (3⅓ ms). In atleast one embodiment, the shared frame rate is 55 fps, which would makethe shared-frame-rate period 1/55 of a second (18 2/11 ms). Andcertainly other frame rates and corresponding periods could be used invarious different embodiments, as deemed suitable by those of skill inthe art for a given implementation.

Further, as described above, each of the video cameras 1102 has a knownvantage point in a predetermined coordinate system, in this case thepredetermined coordinate axes 1040. In particular, as explained above,the known vantage point of the video camera 1102 of the camera assembly1024L is at their common front centroid 1080, oriented towards the3D-space point 1070; the known vantage point of the video camera 1102 ofthe camera assembly 1024C is at their common front centroid 1082, alsooriented towards the 3D-space point 1070; and the known vantage point ofthe video camera 1102 of the camera assembly 1024R is at their commonfront centroid 1084, also oriented towards the 3D-space point 1070. Asexplained, all of the points 1070, 1080, 1082, and 1084 are in thepredetermined coordinate system 1040. Due to their co-location andstatic arrangement during operation, the various front centroids 1080,1082, and 1084 are referred to at times in this written description asthe vantage points 1080, 1082, and 1084, respectively.

3. Generation of 3D Mesh of Subject

a. Receipt of Depth Images from Camera Assemblies

At step 1604, PSS 202 obtains 3D meshes of the presenter 102 at theshared frame rate, and such 3D meshes are time-synchronized with thevideo frames of each of the 3 raw video streams 208 such that 3D mesh xis time-synchronized with frame x in each raw video stream 208. PSS 202obtains or generates at least one 3D mesh of the presenter 102. In oneembodiment, PSS at least one pre-existing mesh is available to PSS 202.

Although PSS 202 could carry out step 1604 in a number of differentways, examples of which are described herein, in this particularexample, step 1604 includes PSS 202, receiving from the cameraassemblies 1024, depth-data streams 210 made up of depth imagesgenerated by the respective camera assemblies 1024.

In this example, those depth images are generated by the cameraassemblies 1024 in the following manner: each camera assembly 1024 usesits respective IR illuminator 1106 to project a non-repeating,pseudorandom temporally static pattern of IR light on to the presenter102 and further uses its respective IR cameras 1104L and 1104R to gathertwo different reflections of that pattern (reflections of that patternfrom two different vantage points—e.g., the front centroids 1124L and1124R of the camera assembly 1024L) off of the presenter 102. Eachcamera assembly 1024 conducts hardware-based stereoscopic analysis todetermine a depth value for each pixel location in the correspondingdepth image, where such pixel locations in at least one embodimentcorrespond on a one-to-one basis with color pixels in the video framesin the corresponding raw video stream 208 from the same camera assembly1024. The non-repeating nature of the IR pattern could be globallynon-repeating or locally non-repeating to various extents in variousdifferent embodiments.

Thus, in at least one embodiment, when carrying out step 1604, PSS 202receives a depth image from each camera assembly 1024 for eachshared-frame-rate time period. This provides PSS 202 with, in thisexample, three depth images of the presenter 102 for each frame (e.g.,for each shared-frame-rate time period). In at least one embodiment,each of those depth images will be made up of depth values (e.g., depthpixels) that each represent a distance from the respective vantage pointof the camera assembly from which the corresponding depth frame wasreceived.

b. Projection of Received Depth Images Onto Shared Geometry inConstruction of Single 3D-Point Cloud of Subject

PSS 202 can use the known location of the vantage point of that cameraassembly 1024 in the predetermined coordinate system 1040 to converteach such distance to a point (having a 3D-space location) in thatshared geometry 1040. (Note that “the axes 1040,” “the coordinate axes1040,” “the predetermined coordinate system 1040,” “the shared geometry1040,” and the like are all used interchangeably herein.) PSS 202 thencombines all such identified points into a single 3D-point cloud that isrepresentative of the subject (e.g., the presenter 102).

In at least one embodiment, and using the camera assembly 1024C by wayof example, to convert (i) a measured distance from the vantage point ofthe camera assembly 1024L as reflected in a depth-pixel value of a depthpixel in a depth frame that is received by PSS 202 from the cameraassembly 1024C into (ii) a 3D point location in the shared geometry1040, PSS 202 may carry out a series of calculations, transformations,and the like. An example of such processing is described in the ensuingparagraphs in connection with FIGS. 17-19.

FIG. 17 is a perspective diagram depicting a view 1700 of a firstexample projection from a focal point 1712 of the camera assembly 1024C(as an example one of the camera assemblies 1024) through the fourcorners of a 2D pixel array 1702 of the example camera assembly 1024C onto the shared geometry 1040, in accordance with at least one embodiment.As to the type of processing in general that is described here, thefocal point 1712 and the pixel array 1702 could correspond to one ofthree different vantage points on the camera assembly 1024C, namely (i)the vantage point 1124L of the IR camera 1104L of the camera assembly1024C, (ii) the vantage point 1124R of the IR camera 1104R of the cameraassembly 1024C, or (iii) the vantage point 1082 of the virtual depthcamera 1144C—and of the RGB camera 1102—of the camera assembly 1024C.Note that the focal point 1712 is different from the vantage point inall these cases, but they are optically associated with one another asknown in the art.

In this example description, PSS 202 conducts processing on depth framesreceived in the depth-data stream 210C from the camera assembly 1024C.In one example, focal point 1712 and the pixel array 1702 are associatedwith the third option outlined in the preceding paragraph—the focalpoint 1712 and the pixel array 1702 are associated with the vantagepoint 1082 of the virtual depth camera 1144C- and of the RGB camera1102—of the camera assembly 1024C.

Referring to FIG. 17, the pixel array 1702 is framed on its bottom andleft edges by a 2D set of coordinate axes 1706 that includes ahorizontal a-axis 1708 and a vertical b-axis 1710. Emanating from thefocal point 1712 through the top-left corner of the pixel array 1702 isa ray 1714, which continues on and projects to the top-left corner of anxy-plane 1704 in the shared geometry 1040. For the convenience of thereader, the ray 1714 is depicted as a dotted line between the focalpoint 1712 and its crossing of the (ab) plane of the pixel array 1702and is depicted as a dashed line between the plane of the pixel array1702 and the xy-plane 1704. This convention is used to show the crossingpoint of a given ray with respect to the plane of the pixel array 1702,and is followed with respect to the other three rays 1716, 1718, and1720 in FIG. 17, and with respect to the rays that are shown in FIGS. 18and 19 as well.

The xy-plane 1704 sits at the positive depth z₁₇₀₄ in the sharedgeometry 1040; as the reader can see, the view in FIGS. 17-19 of theshared geometry 1040 is from the perspective of the camera assembly1024C, and thus is rotated 180° around the y-axis 1042 as compared withthe view that is presented in FIG. 10B and others. Also emanating fromthe focal point 1712 are (i) a ray 1716, which passes through thetop-right corner of the pixel array 1702 and projects to the top-rightcorner of the xy-plane 1704, (ii) a ray 1718, which passes through thebottom-right corner of the pixel array 1702 and projects to thebottom-right corner of the xy-plane 1704, and (iii) a ray 1720, whichpasses through the bottom-left corner of the pixel array 1702 andprojects to the bottom-left corner of the xy-plane 1704.

Thus, the view 1700 of FIG. 17 illustrates—as a general matter and in atleast one example arrangement—the interrelation (for a given camera orvirtual camera) of the focal point 1712 (which could pertain to colorpixels and/or depth pixels), the 2D pixel array 1702 (of color pixels ordepth pixels, or combined color-and-depth pixels, as the case may be,and the projection from the focal point 1712 via that 2D pixel array1702 on to a shared 3D real-world geometry.

The xy-plane 1704 is included in this disclosure to show the scale andprojection relationships between the 2D pixel array 1702 and the 3Dshared geometry 1040. A subject-such as the presenter 102—would not needto be situated perfectly in the xy-plane 1704 to be seen by the cameraassembly 1024C; rather, the xy-plane 1704 is presented to show that apoint that is detected to be at the depth z₁₇₀₄ could be thought of assitting in a 2D plane 1704 in the real world that corresponds to someextent with the 2D pixel array 1702 of the camera assembly 1024C. Thedepicted xy-plane 1704 (and other types of planes) could have beendepicted in FIG. 17. In shared geometry 1040, every point in the sharedgeometry has a z-value and resides in a particular xy-plane (at aparticular x-coordinate and y-coordinate on that particular xy-plane).

FIG. 18 is a perspective diagram depicting a view 1800 of a secondexample projection from the focal point 1712 (of the virtual depthcamera 1144L of the camera assembly 1024C) through a pixel-arraycentroid 1802 of the 2D pixel array 1702 (of the virtual depth camera1144L) on to the shared geometry 1040, in accordance with at least oneembodiment. As mentioned herein, the virtual depth camera 1144C of thecamera assembly 1024C has a front centroid 1082 having coordinatesxyz₁₀₄₀::{x₁₀₈₂,y₁₀₈₀,0}. In this described example, the pixel-arraycentroid 1802 of the 2D pixel array 1702 corresponds with the frontcentroid 1082 of the camera assembly 1024C. The pixel array 1702 mayhave an even number of pixels in each row and column, and may thereforenot have a true center pixel, so the pixel-array centroid 1802 may ormay not represent a particular pixel.

Many aspects of FIG. 18 are common or at least similar to FIG. 17,though some aspects of FIG. 17 have been removed for clarity: forexample, FIG. 18 does not explicitly depict rays emanating from thefocal point 1712 and touching each of the four corners of the pixelarray 1702. FIG. 18 includes a ray 1806 that emanates from the focalpoint 1712, passes through the pixel-array centroid 1802, and projectsto the above-mentioned 3D point 1070, which is pictured in FIG. 18 asresiding in an xy-plane 1804, which itself is situated at a positive-zdepth of z₁₀₇₀, a value that is shown in FIG. 10C as well. FIGS. 10C and18 illustrate that the 3D point 1070 has coordinatesxyz₁₀₄₀::{x₁₀₈₂,y₁₀₈₀,z₁₀₇₀}. The depth z₁₇₀₄ that is depicted in FIG.17 may or may not be the same as the depth z₁₀₇₀ that is depicted inFIG. 18.

FIG. 18 illustrates that the pixel-array centroid 1802 has coordinates{a₁₈₀₂,b₁₈₀₂} in the coordinate system 1706 associated with the pixelarray 1702. In at least one embodiment, the ab-coordinate system 1706corresponds with the ab-plane at c=0 of the camera-assembly-specificcoordinate system 1094C as shown in FIG. 10D. The {a=0,b=0} point in thecoordinate system 1094C is anchored at the front centroid 1082;pixel-array centroid 1802 is not at the {a=0,b=0} point of theab-coordinate system 1706 of the pixel array 1702, illustrating thepoint that an a-shift-and-b-shift transform could be needed between thetwo coordinate systems in some embodiments (and perhaps a c-shifttransform in others). In some embodiments, the camera-assembly-specificcoordinate system 1094C is selected such that the a-axis is along thebottom edge and the b-axis is along the left edge of the virtual depthcamera 1144C. And certainly many other example arrangements could beused as well.

In embodiments in which the pixel-array centroid 1802 corresponds to anactual pixel in the pixel array 1702, PSS 202 could determine the 3Dcoordinates of the point 1070 in the shared geometry 1040 from (i) adepth-pixel value for the pixel-centroid 1802 (in which the depth-pixelvalue is received in an embodiment by PSS 202 from the camera assembly1024C), (ii) data reflecting the fixed physical relationship between thecamera assembly 1024C and the shared geometry 1040, and (iii) datareflecting the relationship between the focal point 1712, the pixelarray 1702, and other relevant inherent characteristics of the cameraassembly 1024. The second and third of those three categories of dataare referred to as the “extrinsics” and the “intrinsics,” respectively,of the camera assembly 1024C. These terms are further described herein.

In the particular arrangement that is depicted in FIG. 18, a single linecan be drawn that intersects the focal point 1712, the pixel-arraycentroid 1802, and the point 1070 in the shared geometry 1040; for anypixel location in the pixel array 1702 other than the pixel-arraycentroid 1802, however, there would be a relevant angle between (i) theray 1806 that is depicted in FIG. 18 and (ii) a ray emanating from thefocal point 1712, passing through that other pixel location, andprojecting somewhere other than the point 1070 in the shared geometry1040. That angle would be relevant in determining the coordinates in theshared geometry 1040 of that other point. Such an example is depicted inFIG. 19, in fact, which is a perspective diagram depicting a view 1900of a third example projection from the focal point 1712 (of the virtualdepth camera 1144C of the camera assembly 1024C) through an examplepixel 1902 (also referred to herein at times as “the pixel location1902”) in the 2D pixel array 1702 on to the shared geometry 1040, inaccordance with at least one embodiment.

As can be seen in FIG. 19, the pixel 1902 has coordinates {a₁₉₀₂,b₁₉₀₂}in the ab-coordinate system 1706 of the pixel array 1702. Ray 1904emanating from the focal point 1712, passes through the plane of thepixel array 1702 at the pixel location of the pixel 1902, and projectson to a point 1906 in the shared geometry 1040. The point 1906 is shownby way of example as residing in an xy-plane 1910 in the shared geometry1040, where the xy-plane 1910 itself resides at a positive depth z₁₉₀₆.As such, it can be seen by inspection of FIG. 19 that the example 3Dpoint 1906 has coordinates xyz₁₀₄₀::{x₁₉₀₆,y₁₉₀₆,z₁₉₀₆}.

Unlike a potentially known focal point such as the 3D point 1070 that isdescribed above, PSS 202 in at least one embodiment has no priorknowledge of what x₁₉₀₆, y₁₉₀₆, or z₁₉₀₆ might be. Rather, as will beevident to those of skill in the art having the benefit of thisdisclosure, PSS 202 will receive from the camera assembly 1024C a depthvalue for the pixel 1902, and derive the coordinates C of the 3D point1906 from (i) that received depth value, (ii) the extrinsics of thecamera assembly 1024C, and (iii) the intrinsics of the camera assembly1024C. In at least one embodiment, this geometric calculation takes intoaccount an angle between the ray 1806 of FIG. 18 (as a reference ray)and the ray 1906 of FIG. 19. PSS 202 can determine this angle inrealtime, or be pre-provisioned with respective angles for eachrespective pixel location (or perhaps a subset of the pixel locations)in the pixel array 1702. And certainly other approaches could be listedhere as well.

Geometric relationships that are depicted in FIGS. 17-19, as well as theassociated mathematical calculations, are useful for determining 3Dcoordinates in the shared geometry based on depth-pixel values receivedfrom the camera assemblies 1024. Certainly this geometry and relatedmathematics are useful for that, but they are also useful fordetermining which pixel location in a 2D pixel array such as the pixelarray 1702 projects to an already known location in the shared geometry1040. This calculation is useful for determining which pixel in a colorimage (e.g., a video frame) projects on to a known (e.g., alreadydetermined) location of a vertex in a 3D mesh.

In other words, given a vertex in the 3D space of the predeterminedcoordinate system 1040, the geometry and mathematics depicted in—anddescribed in connection with—FIGS. 17-19 are used by PSS 202 todetermine which pixel location (and therefore which pixel and thereforewhich color (and brightness, and the like)) in a given 2D video frameprojects on to that vertex. This latter type of calculation can becarried out on the receiver side (e.g., by a rendering device such asHMD 112), in at least one embodiment, the color information (e.g., theencoded video streams 218) is transmitted from PSS 202 to HMD 112separately from the geometric information (pertaining to the 3D mesh ofthe subject, e.g., the geometric-data stream 220LCR), and it is the taskof the rendering device to integrate the color information with thegeometric information in rendering the viewpoint-adaptive 3D persona 116of the presenter 102.

c. Mesh Extraction from 3D-Point Cloud

i. Introduction

Returning to the description of 3D-mesh generation (e.g., step 1604 ofthe method 1600), in at least one embodiment, PSS 202 combines all ofthe 3D points from all three received depth images into a single 3Dpoint cloud, which PSS 202 then integrates into what is known in the artas a “voxel grid,” from which PSS 202 extracts—by way of a number ofiterative processing steps—what is known as and referred to herein as a3D mesh of the subject (e.g., the presenter 102).

In the present disclosure, a 3D mesh of a subject is a data model (e.g.,a collection of particular data arranged in a particular way) of all orpart of the surface of that subject. The 3D-space points that make upthe 3D mesh such as the 3D-space points that survive and/or areidentified by the herein-described mesh-generation processes (e.g., step1604)—are referred to interchangeably as “vertices,” “mesh vertices,”and the like. A term of art for the herein-described 3D-mesh-generationprocesses is “multi-camera 3D reconstruction.”

As a relatively early step in at least one embodiment of theherein-described 3D-mesh-generation processing, PSS 202 uses one or moreknown techniques—e.g., relative locations, clustering, eliminatingoutliers, and/or the like—to eliminate points from the point cloud thatare relatively easily determined to not be part of the presenter 102. Inat least one embodiment, the exclusion of non-presenter points is leftto the below-described Truncated Signed Distance Function (TSDF)processing. Other approaches may be used as well.

ii. Identification of Mesh Vertices Using Truncated Signed DistanceFunction (TSDF) Processing

Among the remaining points, PSS 202 may carry out further processing toidentify and eliminate points that are non-surface (e.g., internal)points of the presenter 102, and perhaps also to identify and eliminateat least some points that are not part of (e.g., external to) thepresenter 102. In at least one embodiment, PSS 202 identifies surfacepoints (e.g., vertices) of the presenter 102 using what is known in theart as TSDF processing, which involves a comparison of what is referredto herein as a current-data TSDF volume to what is referred to herein asa reference TSDF volume. The result of that comparison is the set ofvertices of the current 3D mesh of the presenter 102.

The reference TSDF volume is a set of contiguous 3D spaces in the sharedgeometry 1040. Those 3D spaces are referred to herein as referencevoxels, and each has a reference-voxel centroid having a knownlocation—referred to herein as a “reference-voxel-centroid location”—inthe shared geometry 1040. The current-data TSDF volume is made up of(e.g., reflects) actual measured 3D-data points corresponding to thecurrent frame, and in particular typically includes a respective 3D-datapoint located (somewhere) within each of the reference voxels of thereference TSDF volume. Each such 3D-data point also has a known3D-data-point location in the shared geometry 1040.

Thus, one computation that can be done in advance (or in realtime) is tocompute a respective reference distance between (i) the vantage point ofthe corresponding camera and (ii) the known reference-voxel-centroidlocation of each reference-voxel centroid. In the case of the cameraassembly 1024L, that vantage point is the above-identified frontcentroid 1080. During the realtime TSDF processing, PSS 202 furthercomputes a respective actual distance between (i) the vantage point ofthe corresponding camera and (ii) the 3D-data point that is locatedwithin each reference voxel.

For each respective reference voxel, PSS 202 in at least one embodimentnext computes the difference between (i) the reference distance (betweenthe camera vantage point and the reference-voxel centroid) of thatparticular reference voxel and (ii) the actual distance (between thecamera vantage point and the 3D-data point located within the bounds of)that particular reference voxel. Thus, for a given reference voxel i, adifference Δ_(i) is given by:Δ_(i)=ReferenceDistance_(i)−ActualDistance_(i)  (Eq. 1)

Next, in at least one embodiment, for each respective reference voxel i,PSS 202 computes the quotient (referred to herein as the “TSDF value”)of (i) the computed Δ_(i) for that reference voxel and (ii) a truncationthreshold T_(trunc) that is common to each such division calculation ina given instance of carrying out TSDF processing. Thus, for a givenreference voxel i, the TSDF value TSDF_(i) is given by:

$\begin{matrix}{{TSDF}_{i} = \frac{\Delta_{i}}{T_{trunc}}} & \left( {{Eq}.\mspace{14mu} 2} \right)\end{matrix}$

Next, in at least one embodiment, for each respective reference voxel i,PSS 202 carries out computation to compare the various TSDF_(i) valueswith various TSDF thresholds (detailed just below) and further storesdata and/or deletes (e.g., removes from a list or other array orstructure) data reflecting that:

-   -   (i) each reference voxel i that has a sufficiently positive        TSDF_(i) (e.g., a TSDF_(i) that is greater than a positive TSDF        threshold) is considered to be a reference voxel that does not        include a 3D-data point that is any part of the presenter 102 at        all;    -   (ii) each reference voxel i that has a sufficiently negative        TSDF_(i) (e.g., a TSDF_(i) that is less than a negative TSDF_(i)        threshold) is considered to be a reference voxel that includes a        respective 3D-data point that is internal to (e.g., part of but        not on any surface of) the presenter 102; and    -   (iii) each of the remaining reference voxels i (e.g., those with        a TSDF_(i) that is between the above-mentioned positive and        negative TSDF thresholds) is considered to be what is referred        to herein as a “surface-candidate voxel”—which is also referred        to by those of skill in the art as an “active voxel,” defined        herein as a reference voxel that includes a 3D-data point that        is on or at least sufficiently near a surface of the presenter        102.

In at least one embodiment, PSS 202 then continues the TSDF processingby identifying instances of adjoining surface-candidate reference voxelsfor which it is the case that (i) one of the adjoining surface-candidatereference voxels has a positive TSDF value and (ii) the other of theadjoining surface-candidate reference voxels has a negative TSDF value.In other words, PSS 202 looks to identify transitions from positive TSDFvalues to negative TSDF values, the so-called “zero crossings.”

PSS 202 then “cuts” the 3D-point cloud along the best approximation ofthose transition points that the TSDF processing has identified, and inso doing marks a subset of 3D-data points from those contained in theidentified set of surface-candidate reference voxels to be consideredvertices of the 3D mesh that is being generated. In carrying out thisfunction, in at least one embodiment, for each such pair of adjoiningreference voxels, PSS 202 selects (as a vertex of the mesh) either the3D-data point from the surface-candidate reference voxel that has thepositive TSDF value or the 3D-data point from the surface-candidatereference voxel that has the negative TSDF value. In at least oneembodiment, PSS 202 selects the 3D-data point from whichever of thosetwo surface-candidate reference voxels has an associated TSDF value thatis closer to zero (e.g., that has a lower absolute value). In at leastone embodiment, one or more additional iterations of the above-describedTSDF processing are carried out using progressively smallerreference-voxel volumes, thereby increasing the precision and accuracyof the TSDF-processing result.

At this point in the carrying out of step 1604, then, PSS 202 hasidentified a set of points in the shared geometry 1040 that PSS 202 hasdetermined to be vertices of the 3D mesh that PSS 202 is generating ofthe presenter 102. The usefulness of the reference voxels,reference-voxel centroids, and the like has now been exhausted in thisparticular carrying out of step 1604, and such constructs are not neededand therefore not used until the next time PSS 202 carries out step1604, which will, however, be quite soon (albeit during the next frame).

iii. Identification of Connected Vertices (Triangularization)

After having used TSDF processing to identify the vertices, PSS 202 inat least one embodiment then identifies pairs of vertices that areneighboring points on a common surface of the presenter 102, and storesdata that associates these points with one another, essentially storingdata that “draws” of a virtual line connecting such vertices with oneanother. To identify connected vertices, PSS 202 may use an algorithmsuch as “marching cubes” (as is known to those of skill in the art) oranother suitable approach.

By virtue of basic geometry, many groups of three of these lines willform triangles—e.g., the stored data will reflect that they formtriangles—that together approximate the surface of the presenter 102. Assuch, carrying out the marching-cubes (or an alternativeconnected-vertices-identifying) algorithm is referred to herein at timesas “triangularizing” the vertices. The smoothness of that approximationdepends in large part on the density of triangles in the data model as awhole, though this density can vary from portion to portion of a given3D mesh of a given subject such as the presenter 102, perhaps using ahigher triangle density in areas such as the face and hands of thepresenter 102 than is used for areas such as the torso of the presenter102, as but one example. In any event, then, a 3D mesh of a subject suchas the presenter 102 can be modeled as a collection of these triangles,where each such triangle is defined by a unique set of three meshvertices.

In at least one embodiment, each vertex is represented by a vertex dataobject—named “meshVertex” by way of example in this writtendescription—that includes the location of that particular vertex in theshared geometry 1040. In some embodiments, a vertex data object alsoincludes connection information to one or more other vertices. In someembodiments, connected-vertices information is maintained external tothe vertex data objects, perhaps in a “meshTriangle” data object thatincludes three meshVertex objects, or perhaps in a minimum-four-columnarray where each row corresponds to a triangle and includes a triangleidentifier and three meshVertex objects. And certainly innumerable otherpossible example data architectures could be listed here.

If a given mesh comprehensively reflects all (or at least substantiallyall) of the surfaces of a given subject from every (or at leastsubstantially every) angle, such that a true 360° experience could beprovided, such a mesh is referred to in the art and herein as a“manifold” mesh. Any mesh that does not meet this standard ofcomprehensiveness is known as a “non-manifold” mesh.

Whether manifold or non-manifold, a 3D mesh of a subject in at least oneembodiment is a collection of data (e.g., a data model) that (i)includes (e.g., includes data indicative of, defining, conveying,containing, and/or the like) a list of vertices and (ii) indicates whichvertices are connected to which other vertices; in other words, a 3Dmesh of a subject in at least one embodiment is essentially data thatdefines a 3D surface at least in part by defining a set of triangles in3D space by virtue of defining a set of mesh vertices and theinterconnections among those mesh vertices. And certainly other mannersof organizing data defining a 3D surface could be used as well orinstead.

iv. Mesh Tuning

A. Introduction

The above description of 3D-mesh generation (e.g., step 1604 of themethod 1600) is essentially a frame-independent, standalone method forgenerating a brand-new, fresh mesh for every frame. In some embodiments,that is what happens—e.g., step 1604 is complete for that frame. Inother embodiments, however, the 3D mesh that step 1604 generates is notquite ready yet, and one or more of what are referred to in thisdisclosure as mesh-tuning processes are carried out, and it is theresult of the one or more mesh-tuning processes that are carried out ina given embodiment that is the 3D mesh that is generated in step 1604.

Such embodiments, including those in which one or more mesh-tuningprocesses are carried out prior to step 1604 being considered completefor a given frame, are referred to herein at times as “mesh-tuningembodiments.” Moreover, in various different mesh-tuning embodiments,various combinations of mesh-tuning processes are permuted into variousdifferent orders.

B. Mesh Modification Using a Reference Mesh

In one or more mesh-tuning embodiments, at least part of a current meshis compared to a pre-stored reference mesh models that reflect standardshape meshes, such as facial models, hand models, etc. Such referencemodels may also include pre-identified features, or feature vertices,such as finger joints, palms, and other geometries for a hand model, andlip shape, eye shape, nose shapes, etc., for a face model. One or moremodifications of at least part of the current mesh in light of thatcomparison result in a more accurate, realistic representation of a useror chosen facial features.

More specifically, in accordance with an embodiment, cameras with alower level of detail can be used for full body 3D mesh generation bycreating a hybrid mesh that uses a model to replace portions of the fullbody 3D mesh through using specific feature measurements, such as facefeature measurements (or hand feature measurements) and comparing themeasured feature vertices to the reference feature vertices, and thencombining the reference model with the existing data mesh to generate amore accurate representation. Thus, low-detail depth cameras, with lowerresolution are capable of being used to generate higher resolutiondetails of facial features when combined with statistically-generatedmodels based on known measurements.

For example, in one embodiment, rather than relying on specific facialmeasurements of a specific user obtained from a depth camera (DC), apre-existing approximation model is altered using a video image of thespecific user. Image analysis may be performed to identify a user'sfacial characteristics such as eye shape, spacing, nose shape and width,width of face, ear location and size, etc. These measurements from thevideo image may be used to adjust the reference model to make it moreclosely match the specific user. In some embodiments, an initial modelcalibration procedure may be performed by instructing the user to facedirectly at a video camera to enable the system to capture a front viewof the user. The system may also capture a profile view to captureadditional geometric measurements of the user's face (e.g., noselength). This calibrated reference model can be used to replace portionsof a user's mesh generated from a depth camera, such as the face. Thus,instead of trying to get more detailed facial depth measurements, adetailed reference model of the face is adapted to more closely conformto the user's appearance.

Thus, in one embodiment a set of vertices can be based on ahigh-resolution face model, and combined with lower resolution body meshvertices, thereby forming a hybrid mesh.

FIG. 16B is a flowchart of an exemplary method 1611, in accordance withat least one embodiment for replacing a facial component of a 3D mesh ofa subject with a facial-mesh model. Like the method 1600 shown in FIG.16A, the method 1611 could be carried out by any number of differententities- or a combination of multiple entities or components. Thus,VDCs 106, PSS 202, PSS 502 and processors, memories and computer systemcomponents illustrated in FIG. 6 could carry out the method 1611, aswill be appreciated by those of skill in the art.

Furthermore, the below description of the method 1611 is given withrespect to other elements that are also in the drawings, though thisagain is for clarity of presentation and by way of example, and in noway implies limitation. Each step 1612-1622 is described in a way thatrefers by way of example to various elements in the drawings of thepresent disclosure.

Referring now to FIG. 16B in combination with FIG. 16C, step 1612provides for obtaining a 3D mesh of a subject. For example, the obtained3D mesh can be generated from depth-camera-captured information aboutthe subject. In one embodiment the obtaining the 3D mesh of the subjectincludes generating the 3D mesh of the subject fromdepth-camera-captured information about the subject via one or morecamera assemblies arranged to collect visible-light-image anddepth-image data. As shown in FIG. 2, PSS 202 is shown coupled to set ofexample VDCs 206, which are capable of collecting data to enablegenerating a 3D mesh. Also, in FIG. 16D, several modules are shown thatare capable of performing one or more of the steps shown in FIG. 16B,including geometric-calculation module 1642, which can calculate a 3Dmesh from received data.

Step 1614 provides for obtaining a facial-mesh model. In one embodiment,the facial-mesh model can be obtained via facial-mesh model storage 1630shown in FIG. 16C and in other embodiments, facial-mesh model can beretrieved from data storage 606 shown in FIG. 16D as facial-mesh modelstorage 1640. As one of skill in the art will appreciate, facial-meshmodels can also be transmitted to communication interface 202 andprovided as needed.

Step 1616 provides for locating a facial portion of the obtained 3D meshof the subject. For example, as described above, a full body mesh of apresenter is created and identified portions of the full body meshinclude a facial portion. Thus, PSS 202 included video-encoding module404 and geometric-calculation module 402, can be equipped to identifyportions of a full body mesh as facial or otherwise.Geometric-calculation module 1642 can also be equipped to identifyportions of the full body mesh as will be appreciated can be locatedelsewhere within the system described.

Step 1618 provides for computing a geometric transform based on thefacial portion and the facial-mesh model. In one embodiment, geometrictransform module 1646 shown in FIG. 16D computes the geometrictransform. The geometric transform can include one or more aggregatederror differences between a plurality of feature points on thefacial-mesh model and a plurality of corresponding feature points on thefacial portion of the obtained 3D mesh. In one embodiment, the geometrictransform is based on an affine transform, such as a rigid transform.More particularly, the geometric transform can rotate and translate aset of model feature points so that they align with located featurepoints (referred to as landmarks or landmark points) within the systemmesh. The landmark data points can therefore be coarse noisy data ascompared to the higher-resolution facial mesh data from the facial-meshmodel. The landmarks can include one or more locations of facialfeatures common to both the facial-mesh model and the facial portion.For example, facial features could include corners of eyes, locationsrelated to a nose, lips and ears. As will be appreciated by one of skillin the art, areas of the face with corners or edge detail may be morelikely to enable correspondence between model and facial portion.

In one embodiment, the computing the geometric transform can includeidentifying the feature points on the facial-mesh model and thecorresponding feature points on the facial portion of the obtained 3Dmesh by locating at least 6 feature points, or between 6 and 845 featurepoints. In one embodiment, a facial-mesh model can include up to 3000feature points. In some embodiments, this may be characterized as anoverdetermined set of equations (e.g., 25 or 50, or more, using pointsaround the eyes, mouth, jawline) to determine a set of six unknowns(three rotation angles and three translations).

The geometric transform enables a best fit mapping fortranslation/scaling and rotation. One exemplary best-fit mapping couldinclude a minimum-mean squared error (MMSE) type mapping. Well-knowntechniques of solving such a system of equations may be used, such asminimum mean-squared error metrics, and the like. Such solutions may bebased on reducing or minimizing a set of errors, or an aggregate errormetric, based on how closely the transformed model feature points alignto the landmark points.

Step 1620 provides for generating a transformed facial-mesh model usingthe geometric transform. For example, PSS 202 as shown in FIG. 16C cangenerate the transformed facial-mesh model. Hybrid module 1648 shown inFIG. 16D, in one embodiment can be part of PSS 202 and generate thetransformed facial-mesh model in combination with geometric transformmodule 1646.

Step 1622 provides for generating a hybrid mesh of the subject at leastin part by combining the transformed facial-mesh model and at least aportion of the obtained 3D mesh. For example, in one embodiment, theobtained 3D mesh, minus the facial portion of the mesh is combined withthe facial-mesh model to produce a hybrid mesh of both facial model andobtained 3D mesh. Thus, vertices in the original facial portion datamesh are replaced with the transformed face model.

In one embodiment generating the transformed facial-mesh model andgenerating the hybrid mesh is repeated periodically to removeaccumulated error that could generate over time. Thus, rather than aframe-by-frame synchronization, the facial model is synchronized onlyperiodically.

The final hybrid mesh can then be output via communication interface602, or output to peripheral interface 614 as shown in FIG. 16D. In oneembodiment, the hybrid mesh is sent for further processing to renderingdevice 112, shown in FIG. 2. Thus, in one embodiment the hybrid mesh canbe a set of geometric-data streams and/or video streams that aretime-synchronized streams sent to a receiver, such as rendering device112 or other device.

One embodiment shown in FIGS. 16B, 16C and 16D in combination with otherFIGs. herein described relates to systems for generating a hybrid mesh.More specifically, one embodiment shown in FIG. 16D relates to a systemincluding a memory, such as data storage 606 including a data storage ofone or more facial-mesh models 1640, each of the one or more facial-meshmodels including high resolution geometric facial image data. The systemfurther includes a processor 604 coupled to the memory, the processor604 including a geometric-calculation module 1642. In one embodiment,geometric-calculation module 1642 includes a 3D mesh rendering module1644 to receive data from one or more one or more camera assembliesarranged to collect visible-light-image and depth-image data and createa 3D mesh of a subject, the 3D mesh including a facial portion. Thegeometric-calculation module 1642 can further include a geometrictransform module 1646 coupled to the 3D mesh rendering module 1644, thegeometric transform module computing a geometric transform based on thefacial portion and one of the facial-mesh models. In one embodiment, thegeometric transform is determined in response to one or more aggregatederror differences between a plurality of feature points on thefacial-mesh model and a plurality of corresponding feature points on thefacial portion, and the transform is then used to generate a transformedfacial mesh model. The geometric-calculation module 1642 can furtherinclude a hybrid module 1648 coupled to the geometric transform module1646, the hybrid module generating a hybrid mesh of the subject at leastin part by combining the transformed facial-mesh model and at least aportion of the obtained 3D mesh. In one embodiment, the system canfurther include a transceiver, which can be communication interface 602or other hardware capable of transmitting the hybrid mesh/facial modelor the like as a set of geometric-data streams and video streams astime-synchronized data streams to a receiver.

In an alternate embodiment, a system includes at least one computer anda non-transitory computer readable medium having stored thereon one ormore programs, which when executed by the at least one computer, causethe at least one computer to obtain a three-dimensional (3D) mesh of asubject, wherein the obtained 3D mesh is generated fromdepth-camera-captured information about the subject; obtain afacial-mesh model; locate a facial portion of the obtained 3D mesh ofthe subject; compute a geometric transform based on the facial portionand the facial-mesh model, the geometric transform determined inresponse to one or more aggregated error differences between a pluralityof feature points on the facial-mesh model and a plurality ofcorresponding feature points on the facial portion of the obtained 3Dmesh; generate a transformed facial-mesh model using the geometrictransform; generate a hybrid mesh of the subject at least in part bycombining the transformed facial-mesh model and at least a portion ofthe obtained 3D mesh; and output the hybrid mesh of the subject.

In one embodiment, once the hybrid mesh is created, a non-rigiddeformation algorithm applies to determine deformation of the datadriven system model. That is, the hybrid mesh can be moved as close aspossible to current-frame depth-image data by using a non-rigiddeformation, explained more fully below with respect to weighteddeformations, below.

C. Weighted Deformation

One mesh-tuning process is referred to herein as “weighted deformation.”In short, and stated generally, embodiments that involve fine-tuning amesh using a weighted-deformation technique as described herein involvegenerating a current mesh in perhaps the manner described above, andthen combining that current mesh with a “historical” mesh according to aweighting scheme. For example, then, the 3D mesh that step 1604ultimately produces could be the result of a weighted-deformationtechnique that gives 90% weight to the historical mesh and 10% weight tothe current mesh, where the historical mesh could be the mesh ultimatelygenerated from the previous frame, since that mesh itself would also bea product of hysteresis-type historical weighting, a mathematical toolthat is known in the engineering arts in general.

In at least one weighted-deformation mesh-tuning embodiment, PSS 202does not simply compute a weighted average between the historical meshand the current mesh, but instead carries out a process of actuallydeforming the historical mesh based at least in part on the currentmesh. Thus, in some such embodiments, the historical mesh is consideredto be a valid position for the presenter 102, and in the current framethat historical mesh is allowed to be deformed to better match thecurrent mesh, but only in restricted ways that are programmed in advanceas being valid amounts and/or types of human motion. Such motionrestrictions in general tend to smooth out and reduce the amount ofperceived jerkiness of motion of the 3D presenter persona 116.

One way to visualize this mesh deformation is that PSS 202 is deformingthe historical (e.g., previous-frame) mesh to look more similar to thecurrently generated mesh (than the historical mesh looks prior to anysuch deformation). In deforming the historical mesh, the establishedconnections among vertices (e.g., the triangles) stay connected as theyare in modeling the surface of the subject in the historical mesh—theysimply get “pulled along” in various ways that are determined by thecurrent mesh in a process that is referred to in the art as “non-rigiddeformation.”

There is a process that is known in the art as “optical flow” that is a2D analog to the 3D non-rigid deformation of the historical mesh basedon the current mesh that is carried out in at least one embodiment ofthe present systems and methods. An example of an optical-flow algorithmis explained in Michael W. Tao, Jiamin Bai, Pushmeet Kohli, and SylvainParis: “SimpleFlow: A Non-Iterative, Sublinear Optical Flow Algorithm”.Computer Graphics Forum (Eurographics 2012), 31(2), May 2012, which ishereby incorporated herein by reference.

In some optical-flow implementations and in the mesh-deformationprocesses of some embodiments of the present methods and systems,historical data (such as the historical mesh) is moved as close aspossible to the current data (such as the 3D mesh generated fromcurrent-frame depth-image data), and then an average (perhaps a weightedaverage) of the current data and the post-move historical data iscomputed. The result of this average is in some embodiments the 3D meshthat is generated by carrying out step 1604 of the method 1600. Andcertainly other implementations could be used as well.

As to how mathematically to model the distortion of a given historicalmesh to more closely match a current mesh: in at least one embodiment, asubstantial calculation known in the art as an energy-minimizationproblem is carried out. In at least one embodiment, thisenergy-minimization problem is carried out with respect to a subset ofthe vertices that are referred to herein as “nodes.” In an embodiment, ameshVertex object has a Boolean value called something akin to “isNode,”which is set to “True” if that meshVertex is a node and is otherwise setto “False.” Clearly there is no end to the variety of ways in which sucha toggleable mesh-vertex property could be implemented.

In an embodiment, the nodes of the historical mesh (the “historical-meshnodes”) are compared with the nodes of the current mesh (the“current-mesh nodes”) to determine the extent to which the presenter 102moved between the prior frame and the current frame. On one extreme, ifthe presenter 102 has not moved at all, the historical-mesh nodes wouldmatch the locations of the current-mesh nodes on a node-wise basis; insuch a situation, the “energy” would be determined to be zero, and thusnot minimizable any further; the minimization calculation would becomplete, the historical-mesh nodes wouldn't need to be moved at all,and the historical mesh—or equivalently the current mesh—would becomethe step-1604-generated mesh for that frame, perhaps subject to one ormore additional mesh-tuning processes.

If, however, there is some mismatch between the 3D locations (in theshared geometry 1040) of the historical-mesh nodes and the current-meshnodes, the initial measured energy for that iteration of theenergy-minimization problem would be non-zero (and more specifically,positive). The historical-mesh nodes would then be moved (withinmovement constraints such as those mentioned above) to more closelyalign with the current-mesh nodes. When any historical-mesh node ismoved, the connectivity among the triangles and vertices of thehistorical mesh is maintained, such that the connected triangles,vertices, and as a general matter the mesh surface gets pulled alongwith the moved historical-mesh node.

Once all of the historical-mesh nodes have been moved as much aspossible within the allowed constraints to more closely align with thecurrent-mesh nodes, the energy has been minimized to the extent possiblefor that iteration, and the now-modified historical mesh becomes thestep-1604-generated mesh for that frame, perhaps subject to one or moreadditional mesh-tuning processes. There is no reason in principle thatevery vertex couldn't be a node, though in most contexts the time andprocessing demands would make such an implementation intractable.

4. Identification of Respective Lists of Mesh Vertices that are Visiblefrom the Vantage Point of Each Respective Camera Assembly

After PSS 202 has carried out step 1604 for a given shared-frame-ratetime period (e.g., for a given frame), in at least one embodiment PSS202 next, at step 1606, calculates three (and more generally, M)visible-vertices lists, one for each of the camera assemblies 1024 fromwhich PSS 202 is receiving a raw video stream 208. And viewed on abroader temporal scale, step 1606 can be characterized as PSS 202calculating sets of M visible-vertices lists at the shared frame rate,where each such visible-vertices list is the respective subset of thevertices of the current mesh that is visible in the predeterminedcoordinate system 1040 from the vantage point of a respective differentone of the M video cameras of the M camera assemblies.

In connection with step 1604 in FIG. 16A above, the phrase “currentmesh” refers to the standalone mesh generated for a frame x based onlyon information that is current to that frame x without reference to anyhistorical data. The mesh that results from the step 1604 is a generatedmesh. For purposes of explaining step 1606 however, the current meshmeans the mesh that was generated in step 1604 for the current frame. Asdescribed above, there are embodiments in which step 1604 does notinvolve the use of any historical data, and there are embodiments inwhich step 1604 does involve the use of historical data.

In connection with step 1606, for each frame, there is a set of dataprocessing that gets carried out independently from the vantage point ofeach of the camera assemblies 1024. For simplicity of explanation, thisset of data processing is explained by way of example below inconnection with the vantage point 1082 of the camera assembly 1024C,though the reader should understand that this same processing could alsocarried out with respect to the vantage point 1080 of the cameraassembly 1024L, and with respect to the vantage point 1084 of the cameraassembly 1024R. This is true in connection with step 1604 as well, asthe processing described in connection with that step for identifyingvertices of the mesh is conducted from the vantage points of each of thecamera assemblies 1024 as well, though in the case of step 1604, theprocessing produces a single data result—the mesh, whereas in the caseof step 1606, the processing produces a respective different data resultfrom the vantage point of each respective camera assembly 1024.

Step 1606 produces a visible-vertices list from the vantage point ofeach respective camera assembly 1024. As mentioned above, the specificsin at least one embodiment of generating a visible-vertices list isdescribed below in connection with the vantage point 1082 of the cameraassembly 1024C. The term “submesh” is also used herein interchangeablywith “visible-vertices list;” a contiguous subset of the mesh verticesvisible from a given vantage point can include a submesh of the 3D meshof the subject (e.g., the presenter 102).

Step 1606—the identification of a visible-vertices list from aparticular vantage point—can be done anywhere on the communication pathbetween where the data is captured and where the data is rendered. Insome embodiments, such as the method 1600, this processing is done byPSS 202. In other embodiments, this processing is done by the renderingdevice (e.g., HMD 112). Numerous other possible implementations withrespect to which device or combination of devices carries out thevisible-vertices-list-identification processing, as well as with respectto where on the above-mentioned communication path this processingoccurs. Identifying a visible vertices list can be more of a sender-sidefunction, as is the case with the method 1600, and gives an entity suchas PSS 202 the opportunity to compress the visible-vertices lists priorto transmitting them to the rendering device. Some example embodimentsof mesh compression—including visible-vertices-list compression (a.k.a.submesh compression)—are discussed below.

Identifying a visible-vertices list of a current mesh (again, the meshultimately generated by step 1604 in connection with the current frame)from the vantage point 1082 of the camera assembly 1024C, includesidentifying which vertices of the current mesh are visible from thevantage point 1082 of the RGB camera 1102 of the camera assembly 1024C.Identifying can include modeling the virtual depth camera 1144C as beingin exactly the same location in the shared geometry 1040—and thereforeseeing exactly the same field of view—as the RGB camera 1102 of thecamera assembly 1024C, consistent with the relationship between FIGS.11B and 11C (although it is the camera assembly 1024L that is depictedby way of example there).

In at least one embodiment, PSS 202 then evaluates the current mesh fromthe vantage point of the virtual depth camera 1144C. Using a conceptualframework such as the one displayed and described in connection withFIGS. 17-19, PSS 202 may go pixel location by pixel location through a(virtual) 2D pixel array of the virtual depth camera 1144C. For eachsuch pixel location, PSS 202 may conduct a “Z-delta” analysis todistinguish visible surfaces (and therefore visible vertices) of thecurrent mesh from non-visible surfaces (and therefore non-visiblevertices) of the current mesh from the vantage point 1082 of the virtualcamera 1144C.

In conducting this Z-delta analysis for a given pixel location in the 2Dpixel array of the virtual depth camera 1144C, PSS 202 may carry outoperations that simulate drawing a ray that emanates from the focalpoint of the virtual depth camera 1144C and passes through theparticular pixel location that is currently being evaluated. PSS 202 maynext determine whether that ray intersects any of the vertices of thecurrent mesh. If the answer is zero, no vertex is added to thevisible-vertices list for that pixel location. If there is one, thatvertex is added to the visible-vertices list for that pixel location. Ifthere is more than one, the vertex with the lowest z-value (e.g., thevertex, among those intersected by that ray, that is closest to thevantage point 1082 of the virtual camera 1144C) is added to thevisible-vertices list for that pixel location. As the reader mightsuppose, in some embodiments that operate by stepping in positive-zincrements from the vantage point 1082 of the virtual camera 1144C andfrequently evaluating whether a vertex has been intersected, one isenough and the algorithm can stop searching along that ray. Andcertainly other example implementations could be described here.

In at least one embodiment, the fact that a given vertex is visible froma given camera assembly is sufficient to warrant adding that vertex tothe corresponding visible-vertices list. In other embodiments, however,each visible-vertices list from each respective vantage point isorganized as a list of mesh triangles for which all three vertices arevisible from the given vantage point. In such embodiments, vertices areonly added to the corresponding visible-vertices lists in groups ofthree vertices that (i) form a triangle in the mesh and (ii) are allvisible from the corresponding vantage point. A visible-vertices listthat is organized by mesh triangles is referred to in this disclosure asa “visible-triangles list,” and it should be understood that avisible-triangles list is a type of visible-vertices list. And certainlyother example implementations could be listed here.

Whenever a given vertex is added to the visible-vertices list for thecamera assembly 1024C (or any other camera assembly, though that is theone being used by way of example in this part of this writtendescription) using an approach such as that described just above, PSS202 knows which pixel location in the 2D pixel array of the virtualdepth camera 1144C projects on to that particular vertex that is beingadded at that time, and therefore also knows which pixel location in thecorresponding simultaneous video frame captured by the camera assembly1024C projects on to that particular vertex (in embodiments in which thepixel locations of the virtual 2D pixel array of the virtual depthcamera 1144C correspond on a one-to-one basis with the pixel locationsof the actual 2D pixel array of the RGB camera 1102 of the cameraassembly 1024C; if for some reason such an alignment is not present, asuitable conversion transform can be used to figure out which pixellocation in the 2D pixel array of the RGB camera 1102 corresponds to agiven pixel location in the virtual 2D pixel array of the virtual depthcamera 1144C).

Thus, since PSS 202 knows which pixel location (the {a,b} coordinates inthe 2D pixel array) corresponds to a given visible vertex, PSS 202 couldconvey this information to HMD 112 in the geometric-data stream 220LCR(or in another data stream), and in at least one embodiment PSS 202 doesjust that. PSS 202 need not, however, and in at least one embodimentdoes not convey this information to HMD 112 in the geometric-data stream220LCR (or in any other data stream); in at least one embodiment, eventhough PSS 202 knows which pixel location maps on to a given vertex, PSS202 elects to save bandwidth by not conveying this information to therendering device, and instead leaves it to the rendering device to“reinvent the wheel” to some extent by figuring out for itself whichpixel location maps to a given vertex in the mesh from a given vantagepoint.

The same is clearly true with the color information of the correspondingpixel location in the corresponding video frame. PSS 202 could determinethat and send it along as well, but information identification,acquisition, manipulation, and transmission are not free, and in variousdifferent embodiments, explicit and purposeful choices are made to notsend data even though such data is known or readily knowable by PSS 202,to incur savings in metrics such as required bandwidth and processingtime and burden on the sender side.

In at least one embodiment, purposeful and insightful engineeringchoices are made to keep what is generally referred to at times hereinas “the color information” (e.g., the video frames captured by the RGBcameras 1102) separate from and not integrated with what is generallyreferred to at times herein as “the geometric information” (e.g.,information such as depth images, vertices, visible vertices fromdifferent perspectives, interconnections among vertices, and the like)on the sender side (e.g., at PSS 202) or in transmission between PSS 202and HMD 112 (see, e.g., the separateness in FIG. 2 of the data streams218L, 218C, and 218R representing the color information from thegeometric-data stream 220LCR representing the geometric information).

And in some embodiments, the separateness of the data into streams—thatare not integrated until they arrive at HMD 112—applies within thecategory of the color information as well. Again, reference is made toFIG. 2 where the respective encoded video streams 218L, 218C, and 218Rrespectively encode raw video from the raw video streams 208L, 208C, and208R. It is known in the art how to cheaply and efficiently encode asingle raw video stream into a single encoded video stream fortransmission across a data connection to a rendering device; variousembodiments represent the insight that leveraging this knowledge isadvantageous to the overall task of accomplishing virtual teleportationin ways that provide good user experiences.

The transmission of the video data in this manner delivers a full, richset of color information to the receiver. As described below, therendering device uses this color information in combination with thegeometric information to render the viewpoint-adaptive 3D presenterpersona 116. As part of that viewing experience, a viewer may frequentlychange their point of view with respect to the 3D persona 116; and notonly that, but in cases in which the full color information and theaccompanying geometric information is transmitted to multiple differentendpoints, the viewers at those different endpoints will almostcertainly view the 3D persona from different perspectives at least someof the time. By not pre-blending the color information on the senderside, each respective viewer can select their own viewpoint and each geta full-color experience, blended at the receiver side to account forvarious vertices being visible from more than one relevant cameraassembly. Thus, in connection with some embodiments of the presentmethods and systems, all of the users receive all of the colorinformation and experience full and rich detail from their ownparticular selected perspective.

5. Generation of Encoded Video Streams and Geometric-Data Stream(s)

a. Introduction

In at least one embodiment, once PSS 202 has completed theabove-described pixel-location-by-pixel-location identification of avisible-vertices list (perhaps a visible-triangles list, as the case maybe) from the perspective of each of the camera assemblies 1024L, 1024C,and 1024R, which may be done serially or in parallel in variousdifferent embodiments, as deemed suitable by those of skill in the artfor a given implementation, step 1606 is complete, and PSS 202 proceeds,at step 1608, to generating at least M+1 (or at least 4 in the describedexample embodiment) separate time-synchronized data streams at theshared frame rate. The at least M+1 (in this case, 4) separatetime-synchronized data streams include (i) M (in this case, 3) encodedvideo streams 218 that each encode a respective different one of thereceived (raw) video streams 208 and (ii) a set of one or moregeometric-data streams 220LCR *** that collectively conveys thevisible-vertices lists that were generated in step 1606.

b. The Color Information

i. Generally

It is described in other parts of this disclosure, that each of theencoded video streams 218 encodes a respective different one of thereceived video streams 208. In at least one embodiment, the encodedvideo streams 218 do not contain any data that is referred to herein asgeometric information. In at least one embodiment, the geometric-datastream 220LCR does not contain any data that is referred to herein ascolor information. In at least one embodiment, (a) the encoded videostreams 218 do not contain any data that is referred to herein asgeometric information and (b) the geometric-data stream 220LCR does notcontain any data that is referred to herein as color information.

ii. Background Removal

In at least one embodiment, the encoded video streams 218 convey full(e.g., rectangular) frames of color information. The encoded videostreams 218 may or may not include standalone i-frames as they are knownin the art. In some embodiments, that is the case; in other embodiments,the encoded video streams 218 make use of inter-frame-referentialconstructs such as p-frames to reduce the amount of bandwidth occupiedby the encoded video streams 218.

In other embodiments, however, the encoded video streams 218 do notconvey full (e.g., rectangular) frames of detailed color information.Instead, in some embodiments, the encoded video streams convey framesthat only have detailed color information for pixels that represent thesubject (e.g., the presenter 102), and in which the rest of the pixelsin the (still-rectangular-shaped) frames are filled in with a particularcolor known as a chromakey, selected in some embodiments to be a colorthat does not occur or at least rarely occurs in the image of thepresenter 102 itself.

The fact that a given frame includes detailed color information of thesubject and is chromakeyed everywhere else does not convert such a videoframe into being one that conveys or contains geometric information.Even though the subject has been isolated and surrounded by a chromakeyin the video frames, those video frames still include no indication ofwhich color pixels project on to which vertices; the color frames knownothing of vertices. In that sense, chromakey embodiments are not allthat different from non-chromakey embodiments, other than being lighteron required bandwidth, since both types of embodiments ultimately turnto the geometric information to identify color pixels that map onto meshvertices: the chromakey embodiments simply involve transmissionultimately of fewer detailed color pixels.

In at least one embodiment, the removal of background pixels (or theextraction of pixels that represent the subject, or “user extraction”)is performed using “alpha masks” which identify the pixel locationsbelonging to a desired persona (e.g., user). A given alpha mask may takethe form of or at least include an array with a respective stored dataelement corresponding to each pixel in the corresponding frame, wheresuch stored data elements are individually and respectively set equal to1 (one) for each user pixel and to 0 (zero) for every other pixel (i.e.,for each non-user (a.k.a. background) pixel).

The described alpha masks correspond in name with the definition of the“A” in the “RGBA” pixel-data format known to those of skill in the art,where “R” is a red-color value, “G” is a green-color value, “B” is ablue-color value, and “A” is an alpha value ranging from 0 (completetransparency) to 1 (complete opacity). In a typical implementation, the“0” in the previous sentence may take the form of a hexadecimal numbersuch as 0x00 (equal to a decimal value of 0 (zero)), while the “1” maytake the form of a hexadecimal number such as 0xFF (equal to a decimalvalue of 255); that is, a given alpha value may be expressed as an 8-bitnumber that can be set equal to any integer that is (i) greater than orequal to zero and (ii) less than or equal to 255. Moreover, a typicalRGBA implementation provides for such an 8 bit alpha number for each ofwhat are known as the red channel, the green channel, and the bluechannel; as such, each pixel has (i) a red (“R”) color value whosecorresponding transparency value can be set to any integer value between0x00 and 0xFF, (ii) a green (“G”) color value whose correspondingtransparency value can be set to any integer value between 0x00 and0xFF, and (iii) a blue (“B”) color value whose correspondingtransparency value can be set to any integer value between 0x00 and0xFF. And certainly other pixel-data formats could be used, as deemedsuitable by those having skill in the relevant art for a givenimplementation.

When merging an extracted persona with content, the disclosed methodsand/or systems may create a merged display in a manner consistent withthe related applications previously cited; in particular, on apixel-by-pixel (i.e., pixel-wise) basis, the merging is carried outusing pixels from the captured video frame for which the correspondingalpha-mask values equal 1, and otherwise using pixels from the content.

c. The Geometric Information

i. Generally

As stated above, among the data streams that PSS 202 generates as partof carrying out step 1608 is the geometric-data stream 220LCR. In atleast one embodiment, PSS 202 generates and sends three separategeometric data streams: geometric-data stream 220L associated with thecamera assembly 1024L, geometric-data stream 220C associated with thecamera assembly 1024C, and geometric-data stream 220R associated withthe camera assembly 1024R. In other embodiments, PSS 202 generates andsends a single geometric-data stream 220LCR that conveys geometric data(e.g., visible-vertices lists) associated with all three of the cameraassemblies 1024L, 1024C, and 1024R. This distinction not being overlyimportant, as mentioned above, whether one, three, or some other numberof geometric-data streams are used, they are collectively referred toherein as the geometric-data stream 220LCR or more simply thegeometric-data stream 220.

In at least one embodiment, the geometric-data stream 220 conveys eachvisible-vertices list as simply a list or array of meshVertex dataobjects, where each such meshVertex includes its coordinates in theshared geometry 1040. In other embodiments, each meshVertex alsoincludes data identifying one or more other meshVertexes to which theinstant meshVertex is connected. In some embodiments, eachvisible-vertices list includes a list of meshTriangle data objects thateach include three meshVertex objects that are implied by theirinclusion in a given meshTriangle data object to be connected to oneanother. In other embodiments, the visible-vertices list takes the formof an at-least-four-column array where each row includes a triangleidentifier and three meshVertex objects (or perhaps identifiersthereof).

Clearly there are innumerable ways in which a given visible-verticeslist can be arranged for conveyance from PSS 202 to HMD 112, and thevarious possibilities offered here are merely illustrative examples.Some further possibilities are detailed below in connection with thetopic of submesh compression.

ii. Camera Intrinsics and Extrinsics

In at least one embodiment, in order to provide HMD 112 (or otherrendering system or device) with sufficient information to render the 3Dpresenter persona 116, PSS 202 transmits to HMD 112 what is referred toherein as camera-intrinsic data (or “camera intrinsics” or simply“intrinsics,” a.k.a. “camera-assembly-capabilities data”) as well aswhat is referred to herein as camera-extrinsic data (or “cameraextrinsics” or simply “extrinsics,” a.k.a. “geometric-arrangementdata”). And it is explicitly noted that, although this topic isaddressed in this disclosure as a subsection of step 1608, thetransmission of the camera-intrinsic data and the camera-extrinsic datacould be done only a single time and need not be done repeatedly (unlesssome modification occurs and an update is needed, for example).

In at least one embodiment, the camera-intrinsic data includes one ormore values that convey inherent (e.g., configured, manufactured,physical, and in general either permanently or at least semi-permanentlyimmutable) properties of one or more components of the cameraassemblies. Examples include focal lengths, principal point, skewparameter, and/or one or more others. In some cases, both a focal lengthin the x-direction and a focal length in the y direction are provided;in other cases, such as may be the case with a substantially squarepixel array, the x-direction and y-direction focal lengths may be thesame and as such only a single value would be conveyed.

In at least one embodiment, the camera-extrinsic data includes one ormore values that convey aspects of how the various camera assemblies arearranged in the particular implementation at hand. Examples includelocation and orientation in the shared geometry 1040.

iii. Submesh Compression

A. Introduction

Bandwidth is often at a premium, and the efficient use of availablebandwidth is an important concern. When a mesh is generated on thesender side and transmitted to the receiving side, reducing the amountof data needed to convey the visible-vertices lists is advantageous.Among the benefits of bandwidth conservation with respect to thegeometric information is that it increases the relative amount ofavailable bandwidth available to transmit the color information, andincreases the richness of the color information conveyed in a givenimplementation.

The terms “mesh compression,” “submesh compression,” and“visible-vertices-list compression” are used relatively interchangeablyherein. Among those terms, the one that is used most often in thisdescription is submesh compression, and just as “submesh” is basicallysynonymous with “visible-vertices list” in this description, so is“submesh compression” basically synonymous with “visible-vertices-listcompression.” The term “mesh compression” can either be thought of as(i) a synonym of “submesh compression” (since a submesh is still a mesh)or (ii) as a collective term that includes (a) carrying out submeshcompression with respect to each of multiple submeshes of a given mesh,thereby compressing the mesh by compressing its component submeshes andcan include (b) carrying out one or more additional functions (such asduplicative-vertex reduction, as described) with respect to one or morecomponent submeshes and/or the mesh as a whole.

In the ensuing paragraphs, various different measures that are taken invarious different embodiments to effect submesh compression aredescribed. In each case, unless otherwise noted, each describedsubmesh-compression measure is described by way of example with respectto one submesh (though not one particular submesh) though it may be thecase that such a measure in at least one embodiment is carried out withrespect to more than one submesh.

B. Reducing Submesh Granularity

In at least one embodiment, a submesh-compression measure that isemployed with respect to a given submesh is to simplify the submesh byreducing its granularity—in short, reducing the total number oftriangles in the submesh. Doing so reduces the amount of geometricdetail that the submesh includes, but this is a tradeoff that may beworth it to free up bandwidth for richer color information.

As a general matter, the flatter a given surface is (or is being modeledto be), the fewer triangles one needs to represent that surface. It isfurther noted that another way to express a reduction in submeshgranularity is as a reduction in triangle density of the submesh-whichcan be the average number of triangles used to represent the texture ofa given amount of surface area of the subject.

In some embodiments, some submesh compression is accomplished byreducing the triangle density in some but not all of the regions of agiven submesh. For example, in some embodiments, detail may be retained(e.g., using a higher triangle density) for representing body parts suchas the face, head, and hands, while detail may be sacrificed (e.g.,using a lower triangle density) for representing body parts such as atorso. In other embodiments, the triangle density is reduced across theboard for an entire submesh. And certainly other example implementationscould be described here.

Whether a reduction in triangle density is carried out for all of agiven submesh or only for one or more portions of the given submesh,there are a number of different algorithms known to those of skill inthe art for reducing the granularity of a given triangle-based mesh. Onesuch algorithm essentially involves merging nearby vertices and thenremoving any resulting zero-area triangles from the particular submesh.

To give the reader an idea of the order of magnitude both before andafter a triangle-granularity-reduction operation such as is beingdescribed here, it may be the case that the “before picture” is asubmesh that has about 50,000 triangles among about 25,000 vertices andthat the “after picture” is a submesh that has about 30,000 trianglesamong about 15,000 vertices. These numbers are offered purely by way ofexample and not limitation, as it is certainly the case that (i) a given“before picture” of a given submesh could include virtually any numberof triangles, though the number of triangles of course bears somerelation to the corresponding number of vertices from which thosetriangles are formed and (ii) various different algorithms for reducingthe granularity of a triangle-based mesh would have different reductioneffects on the triangle density.

C. Stripifying the Triangles

1. Introduction

In at least one embodiment, a submesh-compression measure that isemployed for a given submesh includes stripification or a stripifying ofthe triangles. An example stripification embodiment is depicted in anddescribed in connection with FIG. 20, which is a flowchart of a methodin accordance with at least one embodiment. As is described above withrespect to method 1600, method 2000 could be carried out by any CCD thatis suitably equipped, configured, and programmed to carry out thefunctions described herein in connection with stripification of meshtriangles, submesh triangles, and the like. By way of example and notlimitation, the method 2000 is described herein as being carried out byPSS 202.

In some embodiments, method 2000 is a substep of step 1608, in which PSS202 generates the geometric-data stream(s) 220LCR. In short, method 2000can be thought of as an example way for PSS 202 to transition fromhaving full geometric information about the mesh that it just generatedto having a compressed, abbreviated form of that geometric informationthat can be more efficiently transmitted to a receiving device forreconstruction of the associated mesh and ultimately rendering of the 3Dpresenter persona 116.

FIG. 21 is a first view of an example submesh 2104 of part of thepresenter 102, shown for the shared geometry 1040. Unlike FIGS. 17-19,the shared geometry 1040 is depicted in FIG. 21 from the sameperspective as is used in, e.g., FIG. 10B. Among the reasons for usingthe rotated views in FIGS. 17-19 was to show the orientation of theshared geometry 1040 for another coordinate system, which in thosefigures was a 2D pixel array.

As depicted in FIG. 21, the submesh 2102 includes a section 2104depicted in this example as being on the right arm of the presenter 102.The section 2104 spans x-values from x₂₁₀₆ to x₂₁₀₈ and y-values fromy₂₁₁₀ to y₂₁₁₂, all four of which are arbitrary values. FIGS. 21 and 22are explained herein without explicit reference to the z-dimension; allof the vertices discussed are assumed to have a constant z-value that isreferred to here as z₂₁₀₄ (the arbitrarily selected constant z-value ofthe section 2104 of the submesh 2102). In a typical operation therewould be a number of different z-values among the various vertices ofthe section 2104, to show the contours of that part of the right arm ofthe presenter 102. Each of the vertices 2202-2232, therefore, has alocation in the shared geometry 1040 that can be expressed as follows,using the vertex 2218 as an example: xyz₁₀₄₀::{x₂₂₁₈,y₂₂₁₈,z₂₁₀₄}.

FIG. 22 depicts a view 2200 that includes the submesh 2102 and thesection 2104, and that also includes a magnified version of the section2104. As can be seen in FIG. 22, the section 2104 contains 16 verticesthat are numbered using the even numbers between 2202 and 2232,inclusive. These 16 vertices 2202-2232 are shown as forming 18 trianglesnumbered using the even numbers between 2234 and 2268, inclusive. Thetriangles 2234-2268 are organized into two strips. In particular, thetriangles 2234-2250 form a strip 2270, and the triangles 2252-2268 forma strip 2272. This section 2104, these vertices 2202-2232, thesetriangles 2234-2268, and these strips 2270 and 2272 are used as anexample data set for embodiments of the method 2000.

At step 2002, PSS 202 obtains the triangle-based 3D mesh (in this case,the submesh 2102) of a subject (e.g., the presenter 102). In anembodiment, PSS 202 carries out step 2002 at least in part by carryingout the above-described steps 1604 and 1606, which results in thegeneration of three meshes: the submesh from the perspective of thecamera assembly 1024L, the submesh from the perspective of the cameraassembly 1024C, and the submesh from the perspective of the cameraassembly 1024R. In this example, the submesh 2104 is from theperspective of the camera assembly 1024C.

At step 2004, PSS 202 generates a triangle-strip data set thatrepresents a strip of triangles in the submesh 2102. In thebelow-described examples, PSS 202 generates a triangle-strip data set torepresent the strip 2270. Finally, at step 2006, PSS 202 transmits thegenerated triangle-strip data set to a receiving/rendering device suchas the HMD 112 for reconstruction by the HMD of the submesh 2102 andultimately for rendering by the HMD 112 of the viewpoint-adaptive 3Dpersona 116. Example ways in which PSS 202 may carry out step 2004 aredescribed below.

In some embodiments, PSS 202 stores each vertex as a meshVertex dataobject that includes at least the 3D coordinates of the instant vertexin the shared geometry 1040. Furthermore, PSS 202 may store a giventriangle as a meshTriangle data object that itself includes threemeshVertex objects. PSS 202 may further store each strip as a meshStripdata object that itself includes some number of meshTriangle objects.Thus, in one embodiment, PSS 202 carries out step 2004 by generating ameshStrip data object for the strip 2270, wherein that meshStrip dataobject includes a meshTriangle data objects for each of the triangles2234-2250, and wherein each of those meshTriangle data objects includesa meshVertex data object for each of the three vertices of thecorresponding triangle, wherein each such meshVertex data objectincludes a separate 8-bit floating point number for each of thex-coordinate, the y-coordinate, and the z-coordinate of that particularvertex.

This approach would involve PSS 202 conveying the strip 2270 by sendinga meshStrip object containing nine meshTriangle objects, each of whichincludes three meshVertex objects, each of which includes three 8-bitfloating-point values. That amounts to 81 8-bit floating-point values,which amounts to 648 bits without even counting any bits for theoverhead of the data-object structures themselves. But using 648 bits asa floor, this approach gets metrics of using 648 bits to send ninetriangles, which amounts to 72 bits per triangle (bpt) at best. In termsof bits per vertex (bpv), which is equal to ⅓ of the bpt (due to therebeing three vertices per triangle); in this case the described approachachieves 24 bpv at best. Even a simplified table or array containing allof these vertices could do no better than 72 bpt and 24 bpv.

An even more brute-force, naïve approach would be one in which each ofthe 27 transmitted vertices not only includes three 8-bit floats for thexyz coordinates, but also includes color information in the form of an8-bit red value, an 8-bit green (G) value, and an 8-bit blue (B) value.As each vertex would then require six 8-bit values instead of three8-bit values, doing this would double the bandwidth costs to 1296 totalbits for the strip 2270 (144 bpt and 48 bpv). These numbers are offeredby way of comparison to various embodiments, not by way of suggestion.

The triangle 2234 includes the vertices 2222, 2210, and 2220. Thetriangle 2236 includes the vertices 2210, 2220, and 2208. The triangle2236 differs from the triangle 2234, therefore, by only a single vertex:the vertex 2208 (and not the vertex 2222). Thus, in at least oneembodiment, once all three vertices of a given triangle have beenconveyed to a recipient, with those three vertices ordered such that,for example, the second and third listed of those three vertices areimplied to be part of the next triangle, that next triangle can bespecified with only a single vertex.

In an embodiment, PSS 202 and the HMD 112 both understand that for astrip of triangles to be conveyed, the first such triangle will bespecified by all three of its vertices listed in a particular first,second, and third order. The second such triangle will be specified withonly a fourth vertex and the implication that the triangle also includesthe second and third vertices from the previous triangle. The third suchtriangle can be specified with only a fifth vertex and the implicationthat the third triangle also includes the third and the fourth verticesthat have been specified, and so on.

An approach such as this would need nine 8-bit floats (short for“floating-point values or numbers”) to fully specify the {x,y,z}coordinates of the three vertices 2222, 2210, and 2220 of the triangle2234. For each of the second through ninth triangles 2236-2250, however,only a single vertex (e.g., three 8-bit floats) would need to bespecified for each. Therefore, this same strip 2270 of nine trianglescould be sent using three 8-bit floats for each of 11 vertices, for atotal of 11 vertices*3 floats/vertex*8 bits/float=264 bits, whichamounts to 29.33 bpt and 9.78 bpv.

2. Space-Modeling Parameters

In at least one embodiment, there are two space-modeling parameters thatare relevant to the precision and scale that can be represented, as wellas to the bandwidth that will be required to do so. These twospace-modeling parameters are referred to herein as the “cube-side size”and the “cube-side quantization.”

The cube-side size is a real-world dimension that corresponds to eachside (e.g., length, width, and depth) of a single (imaginary or virtual)cube of 3D space that the subject (e.g., the presenter 102) isconsidered to be in. In at least one embodiment, the cube-side size istwo meters, though many other values could be used instead, as deemedsuitable by those of skill in the art. In some embodiments, acube-side-size of two meters is used for situations in which a presenteris standing, while a cube-side size of one meter is used for situationsin which a presenter is sitting (and only the top half of the presenteris visible). Certainly many other example cube-side sizes could be usedin various different embodiments, as deemed suitable by those of skillin the art for a given implementation.

The cube-side quantization is the number of bits available forsubdivision of the cube-side size (e.g., the length of each side of thecube) into sub-segments. If the cube-side quantization were one, eachside of the cube could be divided and resolved into only two parts (0,1). If the cube-side quantization were two, each side of the cube couldbe divided into quarters (00, 01, 10, 11). In at least one embodiment,the cube-side quantization is 10, allowing subdivision (e.g.,resolution) of each side of the cube into 2¹⁰ (e.g., 1024) differentsub-segments, though many other values could be used instead, as deemedsuitable by those of skill in the art. The cube-side quantization, then,is a measure of how many different pixel locations will be available (tohold potentially different values from one another) in each of thex-direction, the y-direction, and the z-direction in the shared geometry1040.

In an embodiment in which the cube-side size is two meters and thecube-side quantization is 10, the available two meters in thex-direction, the available two meters in the y-direction, and theavailable two meters in the z-direction are each resolvable into 1024different parts that each have a length in their respective direction oftwo meters/side*side/1024 sub-segments*1000 mm/m=−1.95 millimeters (mm).This result (1.95 mm in this case) is referred to herein as the “stepsize” of a given configuration, and it will be understood by the readerhaving the benefit of this disclosure that the step size is a functionof both the cube-side size and the cube-side quantization, and thatchanging one or both of those space-modeling parameters would change thestep size (unless of course, they were both changed in a way thatproduced the same result, such as a cube-side size of one meter and acube-side quantization of nine (such as one meter divided into 2⁹ (512)steps and then multiplied by 1000 mm/m also yields a step size of 1.95mm)). Using an example cube-side size of two meters and an examplecube-side quantization of 10, then, the atomic part of the mesh is acube that is ˜1.95 mm along each side. In some instances, 3D pixels areknown as voxels.

In this disclosure, the “step size” is the smallest amount of distancethat can be moved (e.g., “stepped”) in any one direction (e.g., x, y, orz), somewhat analogous to what is known in physics circles (for ouruniverse) as the “Planck length,” named for renowned German theoreticalphysicist Max Planck and generally considered to be on the order of10⁻³⁵ meters (and of course real-world movement of any distance is notrestricted to being along only one of three permitted axial directions).

3. Expressing Vertices in Step Sizes

Some examples given above of a few different ways in which PSS 202 couldcarry out step 2004 using an 8-bit float to express every x-coordinate,y-coordinate, and z-coordinate of every vertex. Given the abovediscussion regarding the cube-side size, the cube-side quantization, andthe step size, some parallel examples are given in this sub-sectionwhere a 10-bit number of steps is used rather than an 8-bit float toexpress any absolute x-coordinate, y-coordinate, or z-coordinate values.

Revisiting the example in which PSS 202 transmitted all 81 coordinatesof the 27 vertices of the 9 triangles in the strip 2270, mapping thatbrute-force, naïve approach on to use of step sizes, that approach wouldrequire the transmission of 81 coordinates*10 bits/coordinate=810 bitstotal (90 bpt and 30 bpv). Not surprising that using two extra bits percoordinate raised the overall bandwidth cost.

Now revisiting the example in which PSS 202 needed 264 bits to send an8-bit float for each coordinate of each of the 11 vertices in the strip2270, using 10-bit step counts (from the origin (e.g., {0,0,0}) of theshared geometry 1040) instead of 8-bit floats would again raise thebandwidth cost, this time to 11 vertices*3 step counts/vertex*10bits/step count=330 total bits (36.67 bpt and 12.22 bpv).

4. Replacing Coordinate Values with Coordinate Deltas

Some embodiments involve expression of a coordinate (e.g., anx-coordinate) using not an absolute number (a floating-point distance oran integer number of steps) from the origin but rather using a delta foranother (e.g., the immediately preceding) value (e.g., the x-coordinatespecified immediately prior to the x-coordinate that is currently beingexpressed using an x-coordinate delta). In some embodiments, assumingthat a preceding vertex was specified in some manner (either withabsolute values from origin or using deltas from its preceding vertex),a current vertex is denoted delta-x, a delta-y, and a delta-z for thatimmediately preceding vertex.

Step size is relevant in embodiments in which a delta in a given axialdirection is expressed in an integer number of “steps” of size “stepsize.” Therefore, when it comes to considerations of bandwidth usage,the number of bits that is allocated for a given delta determines themaximum number of step sizes for a given coordinate delta. Thisadjustable parameter is similar in principle to the cube-sidequantization discussed above, in that a number of bits naturallydetermines a number of unique values that can be represented by suchbits (# of values=2^(# of bits)).

The number of bits allocated in a given embodiment to express a delta ina given axial direction (a delta-x, a delta-y, or a delta-z) is referredto as the “delta allowance” (and is referred for the particular axialdirections as the “delta-x allowance,” the “delta-y allowance,” and the“delta-z allowance”). A related value is the “max delta,” which in thisdisclosure refers to the maximum number of step sizes in any given axialdirection that can be specified by a given delta. If a delta allowanceis two, the max delta is three (e.g., “00” could specify zero steps(e.g., the same x-value as the previous x-value), “01” could specify onestep, “10” could specify two steps, and “11” could specify three steps).In at least one embodiment, the delta allowance is four and the maxdelta is therefore 15, though certainly many other numbers could be usedinstead.

Those examples assume that the progression in a given dimension wouldalways be positive (e.g., a delta-x of three would mean “go three stepsthe (implied positive) x-direction”). This may not be the case, however,and therefore in some embodiments a delta allowance of, e.g. four, wouldstill permit expression of 16 different values, but in a givenimplementation, perhaps seven of those would be negative (e.g. “one stepin the negative direction” through “seven steps in the negativedirection”), one would be “no steps in this axial direction”, and theother eight would be positive (e.g., “1 step in the positive direction”through “eight steps in the positive direction”). And certainly numerousother example implementations could be listed here.

Returning now to example ways in which PSS 202 could carry out step2004, the two examples above in which PSS 202 compressed the strip 2270by sending all three vertices for the first triangle, and then only onevertex for each ensuing triangle, each time implying that the currenttriangle is formed from the newly specified vertex and the twolast-specified vertices of the preceding triangle. Taking this approachusing absolute coordinates expressed in 8-bit floats incurred abandwidth cost of 264 total bits (29.33 bpt and 9.78 bpv), and takingthis approach using absolute coordinates in 10-bit step counts incurreda bandwidth cost of 330 total bits (36.67 bpt and 12.22 bpv).

In at least one embodiment, PSS 202 uses the following approach forcompressing and transmitting the strip 2270. The first triangle is sentusing three 10-bit step counts from origin for the first vertex, three4-bit coordinate deltas from the first vertex for the second vertex, andthree 4-bit coordinate deltas from the second vertex for the thirdvertex (for a total of 38 bits so far (38 bpt and 12.67 bpv)). Thesecond triangle is sent as just the fourth vertex in the form of three4-bit coordinate deltas from the third vertex (for a total of 50 bits sofar (25 bpt and 16.67 bpv)). The third triangle is sent as just thefifth vertex in the form of three 4-bit coordinate deltas from thefourth vertex (for a total of 62 bits so far (20.67 bpt and 6.89 bpv)).By the time the ninth (of the nine) triangles is sent—as just theeleventh vertex in the form of three 4-bit coordinate deltas from thetenth vertex, the total bandwidth cost for the whole strip 2270 is 134bit total (14.89 bpt and 4.96 bpv).

In some embodiments, as demonstrated in the explanation of the priorexample, the more triangles in a given strip, the better the bpt and bpvscores become, since each additional triangle only incurs the cost of asingle vertex, whether that single vertex be expressed as three 8-bitfloats, three 10-bit step counts, three 4-bit coordinate deltas, or someother possibility. In the case of the example described in the precedingparagraph, the bpt would continue to approach (but never quite reach) 12and the bpv would continue to approach (but never quite reach) four,though these asymptotic limits can be shattered by using othertechniques such as the entropy-encoding techniques described below.Other similar examples are possible as will be appreciated by one ofskill in the art.

In at least one embodiment, to minimize the amount of data that is beingmoved around during—and the amount of time needed for—the stripificationfunctions, PSS 202 generates a table of submesh vertices where eachvertex is assigned a simple identifier and is stored in association withits x, y, and z coordinates, perhaps as 8-bit floats or as 10-bit stepcounts. This could be as simple as a four-column array where each rowcontains a vertex identifier for a given vertex, the x-coordinate forthat given vertex, the y-coordinate for that given vertex, and thez-coordinate for that given vertex. As with a number of the otheraspects of this disclosure, the number of bits allotted for expressingvertex identifiers puts an upper limit on the number of vertices thatcan be stored in such a structure, though such limitations tend to bemore important for transmission operations than they are for localoperations such as vertex-table management.

5. Encoding Entropy

Some embodiments use entropy-encoding mechanisms to further reduce thebpt and bpv scores for transmission of strips of triangles oftriangle-based meshes. This is based on the insight that a great many ofthe triangles in a typical implementation tend to be very close to beingequilateral triangles, which means that there are particular values fordelta-x, delta-y, and delta-z that occur significantly more frequentlythan other values. To continuously keep repeating that same value incoordinate delta after coordinate delta would be unnecessarily wastefulof the available bandwidth. As such, in certain embodiments, PSS 202encodes frequently occurring coordinate-delta values using fewer thanfour bits (or whatever the delta allowance is for the givenimplementation). One way that this can be done is by using Huffmanencoding, though those of skill in the art will be aware of otherencoding approaches as well.

6. Reducing the Number of Duplicative Receiver-Side Vertices

As described above, some embodiments involve the compression andtransmission of triangle strips using coordinate deltas instead ofabsolute coordinates to specify particular vertices to the receiver.Thus, using FIG. 22 for reference, PSS 202 may first compress the strip2270 as described above for transmission to the receiver and thenproceed to compressing the strip 2272 in a similar fashion, also fortransmission to the receiver. In compressing each of these strips 2270and 2272 for transmission using coordinate deltas, it won't be longuntil PSS 202 encodes some vertices that it has already sent to thereceiver.

In an example sequence, PSS 202, as part of compressing and transmittingthe first strip 2270, transmits the following eleven vertices in thefollowing order:

1. vertex 2222 (30 bits of absolute step-count coordinates);

2. vertex 2210 (12 bits of coordinate deltas);

3. vertex 2220 (12 bits of coordinate deltas);

4. vertex 2208 (12 bits of coordinate deltas);

5. vertex 2218 (12 bits of coordinate deltas);

6. vertex 2206 (12 bits of coordinate deltas);

7. vertex 2216 (12 bits of coordinate deltas);

8. vertex 2204 (12 bits of coordinate deltas);

9. vertex 2214 (12 bits of coordinate deltas);

10. vertex 2202 (12 bits of coordinate deltas); and

11. vertex 2212 (12 bits of coordinate deltas).

Upon starting the compression of the strip 2272 (and assuming that, aswould tend to be the case from time to time, PSS 202 has to revert tosending a full 30-bit expression of the step-size coordinates of a giventriangle, and then resume the coordinate-delta approach), PSS 202, aspart of compressing and transmitting the first strip 2270, transmits thefollowing eleven vertices in the following order, wherein the listnumbering is continued purposefully from the previous numbered list:

12. vertex 2222 (30 bits of absolute step-count coordinates);

13. vertex 2232 (12 bits of coordinate deltas);

14. vertex 2220 (12 bits of coordinate deltas);

15. vertex 2230 (12 bits of coordinate deltas);

16. vertex 2218 (12 bits of coordinate deltas);

17. vertex 2228 (12 bits of coordinate deltas);

18. vertex 2216 (12 bits of coordinate deltas);

19. vertex 2226 (12 bits of coordinate deltas);

20. vertex 2214 (12 bits of coordinate deltas);

21. vertex 2224 (12 bits of coordinate deltas); and

22. vertex 2212 (12 bits of coordinate deltas).

It can be seen, then, that PSS 202 transmitted the following duplicatevertices:

-   -   vertex 2222 was sent as both 1 and 12 on the list (in full        30-bit form, no less, though that would actually help the        receiver remove the second occurrence as a duplicate vertex);    -   vertex 2220 was sent as both 3 and 14 on the list (in only        coordinate-delta form, as is the case with the remaining items        in this list of duplications, thus offering little help to the        receiving device in identifying the duplicative-vertex        transmission);    -   vertex 2218 was sent as both 5 and 16 on the list;    -   vertex 2216 was sent as both 7 and 18 on the list;    -   vertex 2214 was sent as both 9 and 20 on the list; and    -   vertex 2212 was sent as both 11 and 22 on the list.

In some instances, the ratio of transmitted vertices to actual vertices(e.g., unique vertices in the mesh on the sender side) is close to two.One possible workaround for this issue is to transmit a unique index foreach vertex. However, as discussed above, even after simplification,there is often on the order of 15,000 unique vertices in the mesh on theserver side. As such, it would require 14 bits per vertex to includesuch a vertex identifier (where 14 bits provides for 16,384 differentpossible binary identifiers). Thus, it is “cheaper” in the bandwidthsense to send a 12-bit (such as three 4-bit coordinate deltas) vertextwice than it would be to send such a vertex identifier with everyunique vertex.

When receiving compressed-submesh information, the receiver compiles alist of submesh vertices, and that last include a significant number ofduplicates, often approaching half of the total number of vertices. Thisplaces an undue processing burden on the receiver in a number of ways.First, the receiver simply has to add nearly twice as many vertices toits running list of vertices than it would if there were no duplicates.Second, the receiver is then tasked with rendering what it believeswithout any reason not to is a mesh with, say, 28,000 vertices in itinstead of the 15,000 that are in the mesh data model on the sender side(for representing the same subject in the same level of geometricdetail). This causes problems such as the rendering device wastefullyusing spots in its rendering (e.g., vertex) cache.

The receiver could carry out functions such as sorting and merging toremove duplicate vertices, but this too is computationally expensive.Another looming problem is that in some instances the receiver may nothave sufficient memory or other storage to maintain such a large tableof vertices. In some implementations, there is an upper bound of 16 bitsfor receiver-side vertex indices, maxing out the number of different (orso the client-side device thinks) vertices at 2¹⁶ (65,536).

To address this issue, in various different embodiments, in addition tosending the mesh-vertices information to the rendering device, PSS 202also transmits one or more duplicate-vertex lists, conveying in variousdifferent ways information that conveys (though more tersely than this)messages such as “the nineteenth vertex that I sent you is a duplicateof the fifth vertex that I sent you, so you can ignore the nineteenthvertex.” Thus, in at least some embodiments, further aspects of meshcompression involve informing the receiver-side device that certainvertices are really duplicates or co-located in the shared geometry 1040with previously identified vertices.

In some embodiments, PSS 202 organizes one or moreduplicate-vertices-notification reports in the form of two-column table,where each row contains the sequence number of two vertices that havethe same xyz coordinates in the shared geometry 1040. In someembodiments, such reports are sent by PSS 202 during intermediate timeframes. And certainly other possible implementations could be listedhere as well.

6. Transmission of Encoded Video Streams and Geometric-Data Stream(s) toRendering Device

At step 1610, PSS 202 transmits the at least M+1 separatetime-synchronized data streams to the HMD 112 for rendering of theviewpoint-adaptive 3D persona 116 of the presenter 102. In thisparticular example, PSS 202 transmits the encoded video streams 218L,218C, and 218R, as well as the geometric-data stream 220LCR, which, asdescribed above, could be a single stream, could be three separatestreams 220L, 220C, and 220R, or perhaps some other arrangement deemedsuitable by those of skill in the art for arranging the geometricinformation among one or more data streams separate and apart from thestreams conveying the color information.

In various different embodiments, the color information and/or thegeometric information could be transmitted using the Internet Protocol(IP) as the network-layer protocol and either the Transport ControlProtocol (TCP) or the User Datagram Protocol (UDP) as thetransport-layer protocol, among other options. As a general matter,TCP/IP incurs more overhead than UDP/IP but includes retransmissionprotocols to increase the likelihood of delivery, while UDP/IP includesno such retransmission protocols but incurs less overhead and thereforefrees up more bandwidth. Those of skill in the art are familiar withsuch tradeoffs. Other protocols may be used as well, as deemed suitableby those of skill in the art for a given implementation and/or in agiven context.

B. Example Receiver-Side Operation

FIG. 23 is a flowchart of a method 2300, in accordance with at least oneembodiment. By way of example, the method 2300 is described below asbeing carried out by the HMD 112, though any computing system or device,or combination of such systems and devices, CCD or other device that issuitably equipped, programmed, and configured could be used in variousdifferent implementations to carry out the method 2300.

At step 2302, the HMD 112 receives time-synchronized video frames of asubject (e.g., the presenter 102) that were captured by video cameras(e.g., the camera assemblies 1024) at known locations in a sharedgeometry such as the shared geometry 1040. In some embodiments, thevideo frames arrive as raw video streams such as the raw video streams208. In other embodiments, the video frames arrive at the HMD 112 asencoded video streams such as the encoded video streams 218.

At step 2304, the HMD 112 obtains a time-synchronized 3D mesh of thesubject. In at least one embodiment, the HMD 112 may carry out step 2304of the method 2300 in any of the various ways that are described abovefor PSS 202 carrying out step 1604 of the method 1600. Thus, takentogether, on a frame-by-frame basis, the carrying out of steps 2302 and2304 provides the HMD 112 with full-color, full-resolution color imagesof the subject from, in this example, three different vantage points inthe shared geometry (e.g., the vantage point 1080 of the camera assembly1024L, the vantage point 1082 of the camera assembly 1024C, and thevantage point 1084 of the camera assembly 1024R).

At step 2306, HMD 112 identifies a user-selected viewpoint for theshared geometry 1040. In various different embodiments, HMD 112 maycarry out step 2306 on the basis of one or more factors such as eyegaze, head tilt, head rotation, and/or any other factors that are knownin the art for determining a user-selected viewpoint for a VR or ARexperience.

At step 2308, HMD 112 calculates time-synchronized visible-verticeslists, again on a per-shared-frame-rate-time-period basis, from thevantage point of at least each of the camera assemblies that isnecessary to render the 3D persona 116 based on the user-selectedviewpoint that is identified in step 2306. For the most part, HMD 112may carry out step 2308 of the method 2300 in any of the various waysthat are described above for PSS 202 carrying out step 1606 of themethod 1600.

An exception to this in certain embodiments is that, while PSS 202, incarrying out step 1606, calculates a visible-vertices list from theperspective of each and every camera assembly 1024 (because PSS 202 doesnot know what viewpoint a user may select for a given frame, and may inany event be streaming the data to multiple viewers that are nearlycertain to select at least slightly different viewpoints in manyframes), HMD 112, in some embodiments of carrying out step 2308, onlycomputes visible-vertices lists from the vantage points of those cameraassemblies 1024 that will be needed to render the 3D persona from theperspective of the user-selected viewpoint that is identified in step2306. In many cases, only two such visible-vertices lists are needed.

At step 2310, HMD 112 projects the vertices from each visible-verticeslist that it calculated in step 2308 on to video pixels (color-datapixels from RGB video cameras 1102 of camera assemblies 1024) from therespective vantage points of the camera assemblies 1024 that areassociated with the visible-vertices lists calculated in step 2308.Thus, using the type of geometry and mathematics that are displayed in,and described in connection with, FIGS. 17-19, the HMD determines, foreach vertex in each visible-vertices list, which color pixel in thecorresponding RGB video frame projects to that vertex in the sharedgeometry 1040.

At step 2312, the HMD 112 renders the viewpoint-adaptive 3D presenterpersona 116 of the subject (e.g., of the presenter 102) using thegeometric information from the visible-vertices lists that the HMD 112calculated in step 2308 and the color-pixel information identified forsuch vertices in step 2310. HMD 112 may, as is known in the art, carryout some geometric interpolation between and among the vertices that areidentified as visible in step 2308.

If the HMD 112 is rendering the 3D persona in a given frame based on twocamera-assembly perspectives, the HMD 112 may first render the submeshassociated with the visible-vertices list of the first of those twocamera-assembly perspectives and then overlay a rendering of the submeshassociated with the visible-vertices list of the second of those twocamera-assembly perspectives. Serial render-and-overlay sequence couldbe used for any number of submeshes representing respective parts of thesubject.

In some embodiments, as each successive submesh is overlaid on the oneor more that had been rendered already, the HMD 112 specifies theweighting percentages to give the new submesh as compared with what hasalready been rendered. Thus, to get a ⅓ weighting result for each ofthree color values for a given vertex, the HMD 112 may specify to use100% weighting for the color information from the first viewpoint forthat vertex when rendering the first submesh, then to go 50% percentweighting for color information for that vertex from each of the secondsubmesh and the existing rendering, and then finally go to 67% weightingfor color information from the existing rendering for that vertex and33% weighting for color information from the third submesh for thatvertex. And certainly many other examples could be listed as well.

In cases where the HMD 112 determines that a given vertex is visiblefrom two different perspectives, the HMD 112 may carry out a processthat is known in the art as texture blending, projective textureblending, and the like. In accordance with that process, the HMD 112 mayrender that vertex in a color that is a weighted blend of the respectivedifferent color pixels that the HMD 112 projected on to that same 3Dlocation in the shared geometry 1040 from however many camera-assemblyperspectives are being blended in the case of that given vertex. Anexample of texture-blending is described in, e.g., U.S. Pat. No.7,142,209, issued Nov. 28, 2006 to Uyttendaele et al. and is entitled“Real-Time Rendering System and Process for Interactive Viewpoint Videothat was Generated Using Overlapping Images of a Scene Captured fromViewpoints Forming a Grid,” and which is hereby incorporated herein byreference in its entirety.

FIG. 24 is a view of an example viewer-side arrangement 2400 thatincludes three example submesh virtual-projection viewpoints 2404L,2404C, and 2404R that correspond with the three camera assemblies 1024L,1024C, and 1024R, in accordance with at least one embodiment.Virtual-projection viewpoints 2404 are not physical devices on thereceiver side, but rather are placed in FIG. 24 to correspond to thethree respective viewpoints from which the subject was captured on thesender side. For actual rendering devices, in some embodiments, as isknown in the art, the HMD 112 includes two rendering systems, one foreach eye of the human user, in which each such rendering system rendersan eye-specific image that is then stereoscopically combined naturallyby the brain of the user.

In FIG. 24, it can be seen that the rendered display is represented by asimple icon 2402 that is not meant to convey any particular detail, butrather to serve as a representation of the common focal points of thevirtual-projection viewpoints 2404L, 2404C, and 2404R. For the reader'sconvenience, example rays 2406L, 2406C, and 2406R are shown asrespectively emanating from the virtual-projection viewpoints 2404L,2404C, and 2404R. Consistent with the top-down view of the cameraassemblies 1024 in FIG. 10C, the rays 2406L and 2406C form a 45° angle2408, and the rays 2406C and 2406R form another 45° angle 2410,therefore combining into a 90° angle.

FIG. 25-29 show respective views of five different example user-selectedviewpoints, and the resulting weighting percentages that in at least oneembodiment are given the various virtual-projection viewpoints 2404L,2404C, and 2404R in the various different example scenarios. FIGS. 25-27show three different user-selected viewpoints in which one of the threepercentages is 100% and the other two are 0%. Thus, a given vertex isvisible from multiple ones of the virtual-projection viewpoints 2404L,2404C, and 2404R. Only the color information associated with one ofthose three virtual-projection viewpoints is used. Rather, this divisionof percentages in those three figures is meant to indicate that, fromthose three particular user-selected viewpoints, there are no verticesthat are visible from more than one of the virtual-projectionviewpoints.

FIG. 25 shows a view 2500 in which a perfectly centered user-selectedviewpoint 2502 (looking perfectly along the ray 2406C) results in a 100%usage of the color information for the center virtual-projectionviewpoint 2404C, 0% usage of the color information for the left-sidevirtual projection viewpoint 2404L and 0% usage of the color informationfor the right-side virtual-projection viewpoint 2404R.

FIG. 26 shows a view 2600 in which a rightmost user-selected viewpoint2602 (looking along the ray 2406R) results in a 100% usage of the colorinformation for the right-side virtual-projection viewpoint 2404R, 0%usage of the color information for the center virtual projectionviewpoint 2404C, and 0% usage of the color information for the left-sidevirtual-projection viewpoint 2404L.

FIG. 27 shows a view 2700 in which a leftmost user-selected viewpoint2702 (looking perfectly along the ray 2406L) results in a 100% usage ofthe color information for the left-side virtual-projection viewpoint2404L, 0% usage of the color information for the center virtualprojection viewpoint 2404C, and 0% usage of the color information forthe right-side virtual-projection viewpoint 2404R.

FIG. 28 shows a view 2800 in which a user-selected viewpoint 2802(looking along a ray 2804) is an intermediate viewpoint between thecenter viewpoint 2502 of FIG. 25 and the leftmost viewpoint 2702 of FIG.27. In the example, this results in a 27° angle 2806 between the ray2406L and the ray 2804 and also results in an 18° angle 2808 between theray 2804 and the ray 2406C. As one might expect from a user-selectedviewpoint that is angularly closer to center, the resulting percentageweighting (60%) given to pixel colors from the center virtual projectionviewpoint 2404C is greater than the percentage weighting (40%) given inthis example to color-pixel information from the left-sidevirtual-projection viewpoint 2404L. In this example, thecenter-viewpoint color information weight was derived by the fraction27°/45°, while the left-side viewpoint color-information weight wasderived by the complementary fraction 18°/45°. Other approaches could beused.

FIG. 29 shows a view 2900 in which a user-selected viewpoint 2902(looking along a ray 2904) is an intermediate viewpoint between thecenter viewpoint 2502 of FIG. 25 and the rightmost viewpoint 2602 ofFIG. 26. In the example, this results in a 36° angle 2906 between theray 2406C and the ray 2904 and also results in an 9° angle 2908 betweenthe ray 2904 and the ray 2406R. From a user-selected viewpoint that isangularly closer to the rightmost viewpoint than it is to the centerviewpoint, the resulting percentage weighting (80%) given to pixelcolors from the right-side virtual projection viewpoint 2404R is greaterthan the percentage weighting (20%) given in this example to color-pixelinformation from the center virtual-projection viewpoint 2404C. In thisexample, the center-viewpoint color information weight was derived bythe fraction 9°/45°, while the right-side viewpoint color-informationweight was derived by the complementary fraction 36°/45°. Certainlyother approaches could be used.

What is claimed is:
 1. A method comprising: obtaining a full-bodythree-dimensional (3D) mesh of a subject, the obtained full-body 3D meshhaving a first resolution; obtaining a facial-mesh model that includespre-identified reference feature vertices for features of a face model,the facial-mesh model having a second resolution that is a higherresolution than the first resolution of the obtained full-body 3D mesh;locating a facial portion of the obtained full-body 3D mesh of thesubject; computing a geometric transform based on differences between aplurality of feature point measurements of the pre-identified referencefeature vertices of the facial-mesh model and a plurality ofcorresponding feature point measurements of corresponding feature pointson the facial portion of the obtained full-body 3D mesh; and generating,by applying the geometric transform to the facial-mesh model, atransformed facial-mesh model that includes the pre-identified referencefeature vertices of the facial-mesh model repositioned to more closelyalign with the corresponding feature points on the facial portion of theobtained full-body 3D mesh; and generating a full-body hybrid mesh ofthe subject, the generating of the full-body hybrid mesh includingreplacing the facial portion of the obtained full-body 3D mesh with thetransformed facial-mesh model such that the full-body hybrid meshcomprises a non-facial portion of the obtained full-body 3D meshrepresented at the first resolution and the transformed facial-meshmodel representing the facial portion of the obtained full-body 3D meshat the second resolution.
 2. The method of claim 1, further comprising:transmitting the full-body hybrid mesh as a set of one or moregeometric-data streams and one or more video streams astime-synchronized data streams to a receiver.
 3. The method of claim 1,further comprising: applying a non-rigid deformation to the full-bodyhybrid mesh wherein the deformation is moved as close as possible tocurrent-frame depth-image data.
 4. The method of claim 1, whereincomputing the geometric transform based on differences between aplurality of feature point measurements of the pre-identified referencefeature vertices of the facial-mesh model and a plurality ofcorresponding feature point measurements of corresponding feature pointson the facial portion of the obtained full-body 3D mesh includes:determining the plurality of feature point measurements of thepre-identified reference feature vertices of the facial-mesh model andthe plurality of corresponding feature point measurements ofcorresponding feature points on the facial portion of the obtainedfull-body 3D mesh based on corresponding facial feature landmarks ineach of the facial-mesh model and the facial portion.
 5. The method ofclaim 1, wherein computing the geometric transform based on differencesbetween a plurality of feature point measurements of the pre-identifiedreference feature vertices of the facial-mesh model and a plurality ofcorresponding feature point measurements of corresponding feature pointson the facial portion of the obtained full-body 3D mesh includes:determining the differences between the plurality of feature pointmeasurements of the pre-identified reference feature vertices of thefacial-mesh model and the plurality of corresponding feature pointmeasurements of corresponding feature points on the facial portion ofthe obtained full-body 3D mesh using one or more minimum mean squareerror calculations.
 6. The method of claim 1, wherein computing thegeometric transform based on differences between a plurality of featurepoint measurements of the pre-identified reference feature vertices ofthe facial-mesh model and a plurality of corresponding feature pointmeasurements of corresponding feature points on the facial portion ofthe obtained full-body 3D mesh includes: computing a rigid affinegeometric transform.
 7. The method of claim 1, wherein obtaining afull-body three-dimensional (3D) mesh of a subject includes: generatingthe full-body 3D mesh of the subject from depth-camera-capturedinformation about the subject.
 8. The method of claim 1, furthercomprising: periodically repeating the computing the geometric transformto remove accumulated error.
 9. A method comprising: obtaining athree-dimensional (3D) mesh of a subject; locating a portion of theobtained 3D mesh of the subject; obtaining a mesh model corresponding tothe portion of the obtained 3D mesh of the subject; computing ageometric transform based on the mesh model and the portion of theobtained 3D mesh, the geometric transform determined in response to oneor more aggregated error differences between a plurality of featurepoints on the mesh model and a plurality of corresponding feature pointson the portion of the obtained 3D mesh; and generating a transformedmesh model using the geometric transform.
 10. The method of claim 9,further comprising: generating a hybrid mesh of the subject at least inpart by combining the transformed mesh model and at least anotherportion of the obtained 3D mesh; and outputting the hybrid mesh of thesubject.
 11. The method of claim 9, wherein: the portion of the obtained3D mesh comprises a facial portion of the subject; and the mesh modelcorresponding to the portion of the obtained 3D mesh of the subjectcomprises a facial-mesh model.
 12. The method of claim 9, whereinobtaining a three-dimensional (3D) mesh of a subject includes:generating the 3D mesh of the subject from depth-camera-capturedinformation about the subject.
 13. The method of claim 9, furthercomprising: periodically repeating the computing the geometric transformto remove accumulated error.
 14. The method of claim 9, whereingenerating the transformed mesh model comprises applying the geometrictransform to the mesh model to reposition the plurality of featurepoints on the mesh model to more closely align with the plurality ofcorresponding feature points on the portion of the obtained 3D mesh. 15.The method of claim 9, wherein: the obtained 3D mesh has a firstresolution; and the mesh model has a second resolution that is a higherresolution than the first resolution.
 16. The method of claim 9,wherein: the obtained 3D mesh of the subject comprises a full-body 3Dmesh of the subject; the portion of the obtained 3D mesh comprises afacial portion of the full-body 3D mesh; and the mesh model comprises afacial-mesh model.
 17. A system comprising: at least one processor; anda non-transitory computer readable medium having stored thereon one ormore instructions, which when executed by the at least one processor,cause the at least one processor to: obtain a full-bodythree-dimensional (3D) mesh of a subject, the obtained full-body 3D meshhaving a first resolution; obtain a facial-mesh model that includespre-identified reference feature vertices for features of a face model,the facial-mesh model having a second resolution that is a higherresolution than the first resolution of the obtained full-body 3D mesh;locate a facial portion of the obtained full-body 3D mesh of thesubject; compute a geometric transform based on differences between aplurality of feature point measurements of the pre-identified referencefeature vertices of the facial-mesh model and a plurality ofcorresponding feature point measurements of corresponding feature pointson the facial portion of the obtained full-body 3D mesh; and generate,by applying the geometric transform to the facial-mesh model, atransformed facial-mesh model that includes the pre-identified referencefeature vertices of the facial-mesh model repositioned to more closelyalign with the corresponding feature points on the facial portion of theobtained full-body 3D mesh; and generate a full-body hybrid mesh of thesubject, the generating of the full-body hybrid mesh including replacingthe facial portion of the obtained full-body 3D mesh with thetransformed facial-mesh model such that the full-body hybrid meshcomprises a non-facial portion of the obtained full-body 3D meshrepresented at the first resolution and the transformed facial-meshmodel representing the facial portion of the obtained full-body 3D meshat the second resolution.
 18. The system of claim 17, wherein thenon-transitory computer readable medium having stored thereon one ormore instructions, which when executed by the at least one processor,cause the at least one processor to: transmit the full-body hybrid meshas a set of one or more geometric-data streams and one or more videostreams as time-synchronized data streams to a receiver.
 19. The systemof claim 17, wherein the non-transitory computer readable medium havingstored thereon one or more instructions, which when executed by the atleast one processor, cause the at least one processor to: apply anon-rigid deformation to the full-body hybrid mesh wherein thedeformation is moved as close as possible to current-frame depth-imagedata.
 20. The system of claim 17, wherein computing the geometrictransform includes: determining the plurality of feature pointmeasurements of the pre-identified reference feature vertices of thefacial-mesh model and the plurality of corresponding feature pointmeasurements of corresponding feature points on the facial portion ofthe obtained full-body 3D mesh based on corresponding facial featurelandmarks in each of the facial-mesh model and the facial portion. 21.The system of claim 17, wherein computing the geometric transformincludes: determining the differences between the plurality of featurepoint measurements of the pre-identified reference feature vertices ofthe facial-mesh model and the plurality of corresponding feature pointmeasurements of corresponding feature points on the facial portion ofthe obtained full-body 3D mesh using one or more minimum mean squareerror calculations.
 22. The system of claim 17, wherein computing thegeometric transform includes: computing a rigid affine geometrictransform.
 23. The system of claim 17, wherein obtaining a full-body 3Dmesh of a subject includes: generating the full-body 3D mesh of thesubject from depth-camera-captured information about the subject.